TY - JOUR
T1 - Modular link fastening mechanism for various robot arm joint configurations
AU - Kim, Dowon
AU - Song, Jae Bok
AU - Kim, Seo Hyeon
N1 - Publisher Copyright:
© 2020 Korean Society of Mechanical Engineers. All rights reserved.
Copyright:
Copyright 2021 Elsevier B.V., All rights reserved.
PY - 2020
Y1 - 2020
N2 - Current commercial collaborative robot arms have a fixed degree of freedom, workspace, and payload because their links are not replaceable. A modular robot with replaceable links is therefore desirable for various task requirements at industrial sites to be met. To address this problem, this study proposes a modular link fastening mechanism for various joint configurations. The proposed mechanism is a simple structure employing a urethane ring and a cam lever and is easy to design owing to the elasticity and friction of urethane. The static and dynamic load experiments demonstrated that the links remained securely fastened to the robot body even when a large load was applied to the robot. Additionally, the link could be assembled and disassembled in a short period of time.
AB - Current commercial collaborative robot arms have a fixed degree of freedom, workspace, and payload because their links are not replaceable. A modular robot with replaceable links is therefore desirable for various task requirements at industrial sites to be met. To address this problem, this study proposes a modular link fastening mechanism for various joint configurations. The proposed mechanism is a simple structure employing a urethane ring and a cam lever and is easy to design owing to the elasticity and friction of urethane. The static and dynamic load experiments demonstrated that the links remained securely fastened to the robot body even when a large load was applied to the robot. Additionally, the link could be assembled and disassembled in a short period of time.
KW - Collaborative robot
KW - Link fastening mechanism
KW - Urethane characteristics
UR - http://www.scopus.com/inward/record.url?scp=85102414330&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85102414330&partnerID=8YFLogxK
U2 - 10.3795/KSME-A.2020.44.11.765
DO - 10.3795/KSME-A.2020.44.11.765
M3 - Article
AN - SCOPUS:85102414330
VL - 44
SP - 765
EP - 770
JO - Transactions of the Korean Society of Mechanical Engineers, A
JF - Transactions of the Korean Society of Mechanical Engineers, A
SN - 1226-4873
IS - 11
ER -