Safe arm design with MR-based passive compliant joints and visco-elastic covering for service robot applications

Seong Sik Yoon; Sungchul Kang; Seung Kook Yun; Seung Jong Kim; Young Hwan Kim; Munsang Kim

doi:10.1007/BF02984262

Safe arm design with MR-based passive compliant joints and visco-elastic covering for service robot applications

Seong Sik Yoon, Sungchul Kang, Seung Kook Yun, Seung Jong Kim, Young Hwan Kim, Munsang Kim

Research output: Contribution to journal › Article › peer-review

30 Citations (Scopus)

Abstract

In this paper a safe arm with passive compliant joints and visco-elastic covering is designed for human-friendly service robots. The passive compliant joint (PCJ) is composed of a magnetorheological (MR) damper and a rotary spring. In addition to a spring component, a damper is introduced for damping effect and works as a rotary viscous damper by controlling the electric current according to the angular velocity of spring displacement. When a manipulator interacts with human or environment, the joints and cover passively operate and attenuate the applied collision force. The force attenuation property is verified through collision experiments showing that the proposed passive arm is safe in view of some evaluation measures.

Original language	English
Pages (from-to)	1835-1845
Number of pages	11
Journal	Journal of Mechanical Science and Technology
Volume	19
Issue number	10
DOIs	https://doi.org/10.1007/BF02984262
Publication status	Published - 2005 Oct
Externally published	Yes

Keywords

Magneto-rheological Fluid
Passive Compliant Joint
Safety
Service Robot
Visco-elastic Covering

ASJC Scopus subject areas

Mechanics of Materials
Mechanical Engineering

Access to Document

10.1007/BF02984262

Cite this

@article{43491c0e79374dc68ae55297c1dd0757,

title = "Safe arm design with MR-based passive compliant joints and visco-elastic covering for service robot applications",

abstract = "In this paper a safe arm with passive compliant joints and visco-elastic covering is designed for human-friendly service robots. The passive compliant joint (PCJ) is composed of a magnetorheological (MR) damper and a rotary spring. In addition to a spring component, a damper is introduced for damping effect and works as a rotary viscous damper by controlling the electric current according to the angular velocity of spring displacement. When a manipulator interacts with human or environment, the joints and cover passively operate and attenuate the applied collision force. The force attenuation property is verified through collision experiments showing that the proposed passive arm is safe in view of some evaluation measures.",

keywords = "Magneto-rheological Fluid, Passive Compliant Joint, Safety, Service Robot, Visco-elastic Covering",

author = "Yoon, {Seong Sik} and Sungchul Kang and Yun, {Seung Kook} and Kim, {Seung Jong} and Kim, {Young Hwan} and Munsang Kim",

note = "Funding Information: This paper was supportedin part by the Ministry of Sciencea nd Technologyin the Republic of Korea and in part by the Korea Research FoundationG rantf undedb y Korea Government (MOEHRD, Basic ResearchP romotionFund) ( No.M01~ 2003-000-20018-0).",

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AU - Yoon, Seong Sik

AU - Kang, Sungchul

AU - Yun, Seung Kook

AU - Kim, Seung Jong

AU - Kim, Young Hwan

AU - Kim, Munsang

N1 - Funding Information: This paper was supportedin part by the Ministry of Sciencea nd Technologyin the Republic of Korea and in part by the Korea Research FoundationG rantf undedb y Korea Government (MOEHRD, Basic ResearchP romotionFund) ( No.M01~ 2003-000-20018-0).

PY - 2005/10

Y1 - 2005/10

N2 - In this paper a safe arm with passive compliant joints and visco-elastic covering is designed for human-friendly service robots. The passive compliant joint (PCJ) is composed of a magnetorheological (MR) damper and a rotary spring. In addition to a spring component, a damper is introduced for damping effect and works as a rotary viscous damper by controlling the electric current according to the angular velocity of spring displacement. When a manipulator interacts with human or environment, the joints and cover passively operate and attenuate the applied collision force. The force attenuation property is verified through collision experiments showing that the proposed passive arm is safe in view of some evaluation measures.

AB - In this paper a safe arm with passive compliant joints and visco-elastic covering is designed for human-friendly service robots. The passive compliant joint (PCJ) is composed of a magnetorheological (MR) damper and a rotary spring. In addition to a spring component, a damper is introduced for damping effect and works as a rotary viscous damper by controlling the electric current according to the angular velocity of spring displacement. When a manipulator interacts with human or environment, the joints and cover passively operate and attenuate the applied collision force. The force attenuation property is verified through collision experiments showing that the proposed passive arm is safe in view of some evaluation measures.

KW - Magneto-rheological Fluid

KW - Passive Compliant Joint

KW - Safety

KW - Service Robot

KW - Visco-elastic Covering

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Safe arm design with MR-based passive compliant joints and visco-elastic covering for service robot applications

Abstract

Keywords

ASJC Scopus subject areas

Access to Document

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