Experimental study on manipulator design for low collision impact force

Yusuke Sugahara, Keigo Noha, Kazuhiro Kosuge, Jun'ichiro Ooga, Hideichi Nakamoto, Takashi Yoshimi

研究成果: Conference contribution

5 被引用数 (Scopus)

抄録

This paper experimentally studies how the mechanism and system design of a manipulator affect the impact force when the manipulator collides with its environment. Although considerable safety-related research has been conducted, there has been no research comparing tendon-driven and direct-driven mechanisms. In this paper, from the perspective of impact force and impulse, two types of driving mechanisms are experimentally compared; a tendon-driven mechanism and a direct-driven mechanism. Also the effect of the absorber and the collision detection system are experimentally investigated. Finally, based on the knowledge obtained above, a single system design method of the manipulator to reduce the collision impact force is proposed and experimentally evaluated.

本文言語English
ホスト出版物のタイトル2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009
ページ899-904
ページ数6
DOI
出版ステータスPublished - 2009 11 4
イベント2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009 - Singapore, Singapore
継続期間: 2009 7 142009 7 17

出版物シリーズ

名前IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Conference

Conference2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009
国/地域Singapore
CitySingapore
Period09/7/1409/7/17

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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