TY - GEN
T1 - Design & implementation of an emergency stop function for on-power clutch based adjustable torque limiters
AU - Wang, Yushi
AU - Schmitz, Alexander
AU - Lopez, Javier Alejandro Alvarez
AU - Kobayashi, Kento
AU - Sugano, Shigeki
N1 - Funding Information:
ACKNOWLEDGMENT This research was partially supported by the JSPS Grant-in-Aid for Scientific Research (S) No. 25220005 and the Program for Creating STart-ups from Advanced Research and Technology ST282005NO.
Publisher Copyright:
© 2017 IEEE.
PY - 2018/2/1
Y1 - 2018/2/1
N2 - Human collaborative robots, which share their workspace with humans, have to fulfill many requirements. This paper shows a way how to combine the requirements of first stopping and subsequent backdrivability in the case of power outage. In particular, a circuit with supercapacitors is designed and implemented that powers an adjustable torque limiter in the case of power loss for a short time to achieve the stop function. After the supercapacitors are depleted, the system is backdrivable. The circuit with the supercapacitors is small enough to be implemented close to the actuator. Tests with varying mass and varying speed are conducted to test the limits of the system when being used without an additional power off brake. The results show that the system is feasible, and also shows the current limitations of the system in regard to brake displacement and brake time.
AB - Human collaborative robots, which share their workspace with humans, have to fulfill many requirements. This paper shows a way how to combine the requirements of first stopping and subsequent backdrivability in the case of power outage. In particular, a circuit with supercapacitors is designed and implemented that powers an adjustable torque limiter in the case of power loss for a short time to achieve the stop function. After the supercapacitors are depleted, the system is backdrivable. The circuit with the supercapacitors is small enough to be implemented close to the actuator. Tests with varying mass and varying speed are conducted to test the limits of the system when being used without an additional power off brake. The results show that the system is feasible, and also shows the current limitations of the system in regard to brake displacement and brake time.
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U2 - 10.1109/SII.2017.8279264
DO - 10.1109/SII.2017.8279264
M3 - Conference contribution
AN - SCOPUS:85050861634
T3 - SII 2017 - 2017 IEEE/SICE International Symposium on System Integration
SP - 463
EP - 468
BT - SII 2017 - 2017 IEEE/SICE International Symposium on System Integration
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE/SICE International Symposium on System Integration, SII 2017
Y2 - 11 December 2017 through 14 December 2017
ER -