High-Transparency Linear Actuator Using an Electromagnetic Brake for Damping Modulation in Physical Human–Robot Interaction DOI Creative Commons
Zahid Ullah,

Thachapan Sermsrisuwan,

Khemwutta Pornpipatsakul

et al.

Journal of Sensor and Actuator Networks, Journal Year: 2024, Volume and Issue: 13(5), P. 65 - 65

Published: Oct. 10, 2024

Enhancing the transparency of high-transmission-ratio linear actuators is crucial for improving safety and capability high-force robotic systems having physical contact with humans in unstructured environments. However, realizing such enhancement challenging. A proposed solution active body weight support involves employing a macro–mini actuator incorporating an electrorheological-fluid brake to connect unit agile, highly back-drivable unit. This paper introduces use electromagnetic (EM) reduced rotor inertia address this challenge. The increased torque capacity EM enables integration low-gear-ratio transmission. agile translation endpoint propelled by low-inertia motor (referred as “mini”) via pulley-belt mechanism achieve high transparency. linked pulley. Damping modulation under driving force achieved through adjustment relative rotational speed When engaged, it prevents any motion between moving carrier. fully controlled ball screw unit, referred “macro”. scaled prototype was constructed experimentally characterize damping generated mini brake. actuator, equipped intrinsic failsafe feature, can be utilized that demand antigravity force.

Language: Английский

Antagonistic Parallel Elastic Actuator Using Preloaded Composite Spiral Torsion Springs DOI

Chatrin Sindhuseka,

Ronnapee Chaichaowarat

Published: May 27, 2024

Language: Английский

Citations

0
High-Transparency Linear Actuator Using an Electromagnetic Brake for Damping Modulation in Physical Human–Robot Interaction DOI Creative Commons
Zahid Ullah,

Thachapan Sermsrisuwan,

Khemwutta Pornpipatsakul

et al.

Journal of Sensor and Actuator Networks, Journal Year: 2024, Volume and Issue: 13(5), P. 65 - 65

Published: Oct. 10, 2024

Enhancing the transparency of high-transmission-ratio linear actuators is crucial for improving safety and capability high-force robotic systems having physical contact with humans in unstructured environments. However, realizing such enhancement challenging. A proposed solution active body weight support involves employing a macro–mini actuator incorporating an electrorheological-fluid brake to connect unit agile, highly back-drivable unit. This paper introduces use electromagnetic (EM) reduced rotor inertia address this challenge. The increased torque capacity EM enables integration low-gear-ratio transmission. agile translation endpoint propelled by low-inertia motor (referred as “mini”) via pulley-belt mechanism achieve high transparency. linked pulley. Damping modulation under driving force achieved through adjustment relative rotational speed When engaged, it prevents any motion between moving carrier. fully controlled ball screw unit, referred “macro”. scaled prototype was constructed experimentally characterize damping generated mini brake. actuator, equipped intrinsic failsafe feature, can be utilized that demand antigravity force.

Language: Английский

Citations

0