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Overload clutch design for collision tolerant highU+2013speed industrial robots
Tijdschriftbijdrage - Tijdschriftartikel
Industrial robots can collide due to malfunctioning, wrong user input or unforeseen changes in the environment inwhich they operate. Different solutions exist to minimize the damage caused by a collision, either absorbed by the environment or by the robot itself. The specific solution depends on the type, size and dynamics of the robot. For highU+2013speed industrial robots, the challenge is in dealing with the large kinetic energy upon impact without compromising the dynamic response during normal operation. The Combined Friction Cam Clutch (CFCC) is proposed asa solution for this problem. We provide a custom mechanical design and derive equations to calculate the threshold and residual torque which are identified as key design metrics. The concept is validated experimentally on a test bench using a prototype of the set-up.
Tijdschrift: IEEE Robotics and Automation Letters
Pagina's: 863 - 870
Jaar van publicatie:2021