Tendon-driven robotic joint of variable torque mechanism = 가변 토크 메커니즘의 텐던 구동 로봇 관절

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In this dissertation, a tendon-driven robotic joint with a variable torque mechanism is proposed to solve the problems of hardware of existing robot manipulator. The mechanism concept and design method of a variable-radius pulley that passively changes its transmission ratio as a function of the external load is presented. The key mechanisms of the proposed variable-radius pulley are the face cam mechanism and the sliding mechanism of the follower, through which the follower from the pulley increases the pulley radius. Because the internal stiffness of the rotating spring acts on the rotation of the face cam, the rotation angle of the face cam changes according to the output load, and the sliding length of the follower changes according to the rotation angle of the cam body. The relationship between the output load and the radius of the pulley, which is equivalent to the transmission ratio, can be tuned to optimize the torque capacity region of the actuator, which is used for a tendon-driven robot manipulator. After describing the working principle of the new variable-radius pulley, static analysis of the proposed mechanism is presented. Simulations and experiments are conducted to demonstrate the proposed mechanism, and the results show that the proposed variable-radius pulley can be used to vary the transmission ratio according to the torque applied to the robot joint.
Advisors
Kim, Soohyunresearcher김수현researcher
Description
한국과학기술원 :기계공학과,
Publisher
한국과학기술원
Issue Date
2018
Identifier
325007
Language
eng
Description

학위논문(박사) - 한국과학기술원 : 기계공학과, 2018.2,[ix, 108 p. :]

Keywords

Variable-radius pulley▼avariable transmission ratio▼atendon-driven robotic joint▼aface cam mechanism▼avariable torque capacity; 가변 반경 풀리▼a변속비 변화▼a텐던 구동 로봇 관절▼a페이스 캠 메커니즘▼a가변 토크 용량

URI
http://hdl.handle.net/10203/264489
Link
http://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=734248&flag=dissertation
Appears in Collection
ME-Theses_Ph.D.(박사논문)
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