Abstract
Safe actuation is one of the most important requirements for human-robot collaboration. Although a variety of passive brakes have been developed in order to safely regulate joint velocities, their performances are significantly subjective to gravity direction and mounting position, and thus are not suitable for multi-degrees of freedom (DoF) robotic applications. Addressing these issues, we developed a centrifugal force-based configuration-independent high-torque-density passive brake. The brake is rapidly and bidirectionally activated at the desired velocity limit in any orientation relative to the direction of gravity. A design optimization methodology is proposed for high-torque density and low-reflected inertia, which allows for inherent safe actuation in the event of a system failure. Experimental results demonstrate that the proposed brake is an effective solution for limiting velocity in multi-DoF human-friendly robots.
| Original language | English |
|---|---|
| Article number | 7482840 |
| Pages (from-to) | 2827-2835 |
| Number of pages | 9 |
| Journal | IEEE/ASME Transactions on Mechatronics |
| Volume | 21 |
| Issue number | 6 |
| DOIs | |
| Publication status | Published - 2016 Dec |
Bibliographical note
Funding Information:This work was supported by the Convergence Technology Development Program for Bionic Arm under Grant NRF- 2015M3C1B2052811, by the Basic Science Research Program through the National Research Fund of Korea funded by the Ministry of Science, ICT Future Planning under Grant NRF-2015R1C1A1A02036412, and by the Chung-Ang University Graduate Research Scholarship in 2015.
Publisher Copyright:
© 2016 IEEE.
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Computer Science Applications
- Electrical and Electronic Engineering