A Human-Powered Joint Drive Mechanism Using Regenerative Clutches

被引：0

作者：

Sugahara, Yusuke ^{[1
]}

Kikui, Kensuke ^{[1
]}

Endo, Mitsuru ^{[2
]}

Okamoto, Jun ^{[3
]}

Matsuura, Daisuke ^{[1
]}

Takeda, Yukio ^{[1
]}

机构：

[1] Tokyo Inst Technol, Sch Engn, Tokyo 1528552, Japan

[2] Nihon Univ, Dept Mech Engn, Fukushima 9638642, Japan

[3] Tokyo Womens Med Univ, Inst Adv Biomed Engn & Sci, Tokyo 1628666, Japan

来源：

2017 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) | 2017年

关键词：

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

In this paper, a development of a single DOF joint drive mechanism using regenerative servo clutches is described. The regenerative servo clutch is a kind of a clutch developed by the authors which consists of a regenerative brake and a differential gear mechanism, and it can control the transmitted torque by controlling the regenerative brake torque. The joint drive mechanism developed in this study is the system which can perform the servo control of the angle of the output shaft using the externally provided constant-speed power directly, by controlling the transmitted torque by using the two regenerative servo clutches for normal and reverse rotation. Through the experimental results, the effectiveness of the developed mechanism and controller was confirmed.

引用

页码：6337 / 6342

页数：6

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