Paper Info
Title
Spring-Clutch: A safe torque limiter based on a spring and CAM mechanism with the ability to reinitialize its position
Abstract
Service robots are anticipated to be used in unstructured areas such as homes, hospitals, and public areas in the near future. However, safety issues need to be addressed before this can occur. In particular, robot manipulators that handle objects by physical contact run the risk of colliding with people or objects. Thus, it is important to prevent collisions that could injure people and damage robot manipulators. In this study, a safe joint mechanism is developed to ensure the safe use of a manipulator. This mechanism, termed `Spring-Clutch,' is a simple passive mechanism that consists of a coil spring and a CAM mechanism. When a torque is applied that is less than a threshold value, Spring-Clutch functions as a rigid joint between the input and the output. However, when an applied torque exceeds the threshold, angular displacement occurs between the input and output to reduce the collision force. If the applied torque is removed, Spring-Clutch immediately returns to its nominal position without the need for additional operations. This paper describes the design principles and performance of Spring-Clutch, and discusses the possibility of its practical use as a joint mechanism for safe manipulation.
Year
DOI
Venue
2009
10.1109/IROS.2009.5354650
IROS
Keywords
Field
DocType
torque limiter,coils,robot manipulators,manipulator dynamics,applied torque,safe manipulation,damage robot manipulator,angular displacement,springs (mechanical),safe torque limiter,torque control,coil spring,service robots,simple passive mechanism,spring-clutch,joint mechanism,safe use,cam mechanism,safe joint mechanism,collision avoidance,practical use,spring-clutch function,force,computer aided manufacturing,torque
Clutch,Angular displacement,Computer-aided manufacturing,Torque,Computer science,Torque limiter,Control theory,Input/output,Control engineering,Coil spring,Robot
Conference
ISBN
Citations 
PageRank 
978-1-4244-3804-4
9
0.77
References 
Authors
7
3
Name
Order
Citations
PageRank
Woosub Lee112715.75
Dong-Eun Choi2102.17
Sungchul Kang337347.67