공압제어를 통한 2DOF 팽창식 관절 액추에이터 제작 (Manufacturing 2DOF Inflatable Joint Actuator by Pneumatic Control)

서지정보

· 발행기관 : 한국로봇학회
· 수록지 정보 : 로봇학회 논문지 / 13권 / 2호 / 92 ~ 96페이지
· 저자명 : 오남수, 이한얼, RODRIGUEHUGO

초록

In this paper, a soft robotic arm which can prevent impact injury during human-robot interaction is introduced. Two degrees of freedom joint are required to realize free movement of the robotic arm. A robotic joint concept with a single degree of freedom is presented using simple inflatable elements, and then extended to form a robotic joint with two degrees of freedom joint using similar manufacturing methods. The robotic joint with a single degree of freedom has a joint angle of 0° bending angle when both chamber are inflated at equal pressures and maximum bending angles of 28.4° and 27.1° when a single chamber if inflated. The robotic joint with two degrees of freedom also has a bending angle of 0° in both direction when all three chambers are inflated at equal pressures.
When either one or two chambers were pressurized, the robotic joint performed bending towards the uninflated chambers.

영어초록

In this paper, a soft robotic arm which can prevent impact injury during human-robot interaction is introduced. Two degrees of freedom joint are required to realize free movement of the robotic arm. A robotic joint concept with a single degree of freedom is presented using simple inflatable elements, and then extended to form a robotic joint with two degrees of freedom joint using similar manufacturing methods. The robotic joint with a single degree of freedom has a joint angle of 0° bending angle when both chamber are inflated at equal pressures and maximum bending angles of 28.4° and 27.1° when a single chamber if inflated. The robotic joint with two degrees of freedom also has a bending angle of 0° in both direction when all three chambers are inflated at equal pressures.
When either one or two chambers were pressurized, the robotic joint performed bending towards the uninflated chambers.

참고자료

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