کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
802230 904369 2010 18 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Variable stiffness mechanism for human-friendly robots
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مهندسی صنعتی و تولید
پیش نمایش صفحه اول مقاله
Variable stiffness mechanism for human-friendly robots
چکیده انگلیسی

We have developed a variable stiffness mechanism (VSM) for human-friendly robots to simultaneously meet safety and performance needs. The VSM has high stiffness in normal operation mode and has low stiffness in collision mode when the load applied to the joint exceeds a critical load, specified by the physical constraints of the joint structure and an actively controlled electro magnet. We have verified the safety of the VSM by simulations and experiments using the head injury criteria index.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Mechanism and Machine Theory - Volume 45, Issue 6, June 2010, Pages 880–897
نویسندگان
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