전기식 하지 외골격 로봇의 구동기 에너지 효율 향상을 위한 클러치 메커니즘 설계
- Title
- 전기식 하지 외골격 로봇의 구동기 에너지 효율 향상을 위한 클러치 메커니즘 설계
- Other Titles
- Design of Clutch Mechanism for Increased Actuator Energy Efficiency of Electrically Actuated Lower Extremity Exoskeleton
- Author
- 한창수
- Keywords
- Roller-Cam clutch mechanism; 롤러-캠 클러치 메커니즘; Exoskeleton robot; 외골격 로봇; Backdrivability; 역구동성; Energy efficiency; 에너지 효율; Design optimization; 최적 설계
- Issue Date
- 2016-03
- Publisher
- 한국정밀공학회
- Citation
- 한국정밀공학회지, v. 33, No. 3, Page. 173-181
- Abstract
- This paper reports on the development of a roller-cam clutch mechanism. This mechanism can transfer bidirectional torque with high backdrivability, as well as increase actuation energy efficiency, in electrical exoskeleton robots. The developed mechanism was installed at the robot knee joint and unclutched during the swing phase which uses less metabolic energy, thereby functioning as a passive joint. The roller-cam clutch aimed to increase actuation energy efficiency while also producing high backdrivability by generating zero impedance for users during the swing phase. To develop the mechanism, mathematical modeling of the roller-cam clutch was conducted, with the design having more than three safety factors following optimization. Titanium (Ti-6AL-4V) material was used. Finally, modeling verification was done using ANSYS software.
- URI
- http://www.dbpia.co.kr/Journal/ArticleDetail/NODE06615037https://repository.hanyang.ac.kr/handle/20.500.11754/102204
- ISSN
- 1225-9071
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ROBOT ENGINEERING(로봇공학과) > Articles
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