TY - GEN
T1 - Development and evaluation of a linear series clutch actuator for vertical joint application with static balancing
AU - Kulkarni, Shardul
AU - Schmitz, Alexander
AU - Funabashi, Satoshi
AU - Sugano, Shigeki
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/10/24
Y1 - 2020/10/24
N2 - Future robots are expected to share their workspace with humans. Controlling and limiting the forces that such robots exert on their environment is crucial. While force control can be achieved actively with the help of force sensing, passive mechanisms have no time delay in their response to external forces, and would therefore be preferable. Series clutch actuators can be used to achieve high levels of safety and backdrivability. This work presents the first implementation of a linear series clutch actuator. It can exert forces of more than 110N while weighing less than 2kg. Force controllability and safety are demonstrated. Static balancing, which is important for the application in a vertical joint, is also implemented. The power consumption is evaluated, and for a payload of 3kg and with the maximum speed of 94mm/s, the power consumed by the actuator is 11W. Overall, a practical implementation of a linear series clutch actuator is reported, which can be used for future collaborative robots.
AB - Future robots are expected to share their workspace with humans. Controlling and limiting the forces that such robots exert on their environment is crucial. While force control can be achieved actively with the help of force sensing, passive mechanisms have no time delay in their response to external forces, and would therefore be preferable. Series clutch actuators can be used to achieve high levels of safety and backdrivability. This work presents the first implementation of a linear series clutch actuator. It can exert forces of more than 110N while weighing less than 2kg. Force controllability and safety are demonstrated. Static balancing, which is important for the application in a vertical joint, is also implemented. The power consumption is evaluated, and for a payload of 3kg and with the maximum speed of 94mm/s, the power consumed by the actuator is 11W. Overall, a practical implementation of a linear series clutch actuator is reported, which can be used for future collaborative robots.
UR - http://www.scopus.com/inward/record.url?scp=85102412381&partnerID=8YFLogxK
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U2 - 10.1109/IROS45743.2020.9341293
DO - 10.1109/IROS45743.2020.9341293
M3 - Conference contribution
AN - SCOPUS:85102412381
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 6353
EP - 6360
BT - 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
Y2 - 24 October 2020 through 24 January 2021
ER -