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논문 기본정보
전기식 하지 외골격 로봇의 구동기 에너지 효율 향상을 위한 클러치 메커니즘 설계
논문 개요
| 기관명 | NDSL |
|---|---|
| 저널명 | 한국정밀공학회지 = Journal of the Korean Society of Precision Engineering |
| ISSN | 1225-9071, |
| ISBN |
논문저자 및 소속기관 정보
| 저자(한글) | 김호준,김완수,임동환,한창수 |
|---|---|
| 저자(영문) | |
| 소속기관 | |
| 소속기관(영문) | |
| 출판인 | |
| 간행물 번호 | |
| 발행연도 | 2016-01-01 |
| 초록 | This paper reports on the development of a roller-cam clutch mechanism. This mechanism can transfer bidirectional torque with high backdrivability, as well as increase actuation energy efficiency, in electrical exoskeleton robots. The developed mechanism was installed at the robot knee joint and unclutched during the swing phase which uses less metabolic energy, thereby functioning as a passive joint. The roller-cam clutch aimed to increase actuation energy efficiency while also producing high backdrivability by generating zero impedance for users during the swing phase. To develop the mechanism, mathematical modeling of the roller-cam clutch was conducted, with the design having more than three safety factors following optimization. Titanium (Ti-6AL-4V) material was used. Finally, modeling verification was done using ANSYS software. |
| 원문URL | http://click.ndsl.kr/servlet/OpenAPIDetailView?keyValue=03553784&target=NART&cn=JAKO201609757436679 |
| 첨부파일 |
추가정보
| 과학기술표준분류 | |
|---|---|
| ICT 기술분류 | |
| DDC 분류 | |
| 주제어 (키워드) | 롤러-캠 클러치 메커니즘,외골격 로봇,역구동성,에너지 효율,최적 설계,Roller-Cam clutch mechanism,Exoskeleton robot,Backdrivability,Energy efficiency,Design optimization |