Design of joint module equipped with manually configurable reducer for gearing

Kanggyun Kim, Wooseok Choi, Woosub Lee, Woo Jin Chung, Sungchul Kang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Many users demand modular manipulator that are able to deal with variable tasks in low-cost condition. This paper details the design of a joint module for a manually reconfigurable manipulator, which has manually configurable gearing. This design method can provide multiple peak values of velocity and torque by user. This module can be changed its placement as vertical and horizontal by electro-mechanical connectors on it. This joint module includes an EtherCAT communication system, non back-drivable planetary gearing. A low-level controller is also implemented inside of joint module.

Original languageEnglish
Title of host publication2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages597-601
Number of pages5
ISBN (Electronic)9781509030552
DOIs
Publication statusPublished - 2017 Jul 25
Event14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017 - Jeju, Korea, Republic of
Duration: 2017 Jun 282017 Jul 1

Other

Other14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017
CountryKorea, Republic of
CityJeju
Period17/6/2817/7/1

Keywords

  • Design
  • Gear
  • Joint
  • Modular Manipulator

ASJC Scopus subject areas

  • Computer Science Applications
  • Biomedical Engineering
  • Artificial Intelligence
  • Human-Computer Interaction
  • Control and Optimization

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  • Cite this

    Kim, K., Choi, W., Lee, W., Chung, W. J., & Kang, S. (2017). Design of joint module equipped with manually configurable reducer for gearing. In 2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017 (pp. 597-601). [7992681] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/URAI.2017.7992681