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- Publisher Website: 10.1109/AIM.2009.5229895
- Scopus: eid_2-s2.0-70350451234
- WOS: WOS:000277062800153
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Conference Paper: Experimental study on manipulator design for low collision impact force
Title | Experimental study on manipulator design for low collision impact force |
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Authors | |
Issue Date | 2009 |
Citation | IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, 2009, p. 899-904 How to Cite? |
Abstract | This paper experimentally studies how the mechanism and system design of a manipulator affect the impact force when the manipulator collides with its environment. Although considerable safety-related research has been conducted, there has been no research comparing tendon-driven and direct-driven mechanisms. In this paper, from the perspective of impact force and impulse, two types of driving mechanisms are experimentally compared; a tendon-driven mechanism and a direct-driven mechanism. Also the effect of the absorber and the collision detection system are experimentally investigated. Finally, based on the knowledge obtained above, a single system design method of the manipulator to reduce the collision impact force is proposed and experimentally evaluated. ©2009 IEEE. |
Persistent Identifier | http://hdl.handle.net/10722/302836 |
ISI Accession Number ID |
DC Field | Value | Language |
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dc.contributor.author | Sugahara, Yusuke | - |
dc.contributor.author | Noha, Keigo | - |
dc.contributor.author | Kosuge, Kazuhiro | - |
dc.contributor.author | Ooga, Jun'ichiro | - |
dc.contributor.author | Nakamoto, Hideichi | - |
dc.contributor.author | Yoshimi, Takashi | - |
dc.date.accessioned | 2021-09-07T08:42:40Z | - |
dc.date.available | 2021-09-07T08:42:40Z | - |
dc.date.issued | 2009 | - |
dc.identifier.citation | IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, 2009, p. 899-904 | - |
dc.identifier.uri | http://hdl.handle.net/10722/302836 | - |
dc.description.abstract | This paper experimentally studies how the mechanism and system design of a manipulator affect the impact force when the manipulator collides with its environment. Although considerable safety-related research has been conducted, there has been no research comparing tendon-driven and direct-driven mechanisms. In this paper, from the perspective of impact force and impulse, two types of driving mechanisms are experimentally compared; a tendon-driven mechanism and a direct-driven mechanism. Also the effect of the absorber and the collision detection system are experimentally investigated. Finally, based on the knowledge obtained above, a single system design method of the manipulator to reduce the collision impact force is proposed and experimentally evaluated. ©2009 IEEE. | - |
dc.language | eng | - |
dc.relation.ispartof | IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM | - |
dc.title | Experimental study on manipulator design for low collision impact force | - |
dc.type | Conference_Paper | - |
dc.description.nature | link_to_subscribed_fulltext | - |
dc.identifier.doi | 10.1109/AIM.2009.5229895 | - |
dc.identifier.scopus | eid_2-s2.0-70350451234 | - |
dc.identifier.spage | 899 | - |
dc.identifier.epage | 904 | - |
dc.identifier.isi | WOS:000277062800153 | - |