TY - GEN
T1 - Design of joint module equipped with manually configurable reducer for gearing
AU - Kim, Kanggyun
AU - Choi, Wooseok
AU - Lee, Woosub
AU - Chung, Woojin
AU - Kang, Sungchul
N1 - Funding Information:
This research was supported by the MOTIE (The Ministry of Trade, Industry and Energy), Korea, under the Robot industry fusion core technology development project(10048920) supervised by the KEIT(Korea Evaluation of Industrial Technology).
PY - 2017/7/25
Y1 - 2017/7/25
N2 - Many users demand modular manipulator that are able to deal with variable tasks in low-cost condition. This paper details the design of a joint module for a manually reconfigurable manipulator, which has manually configurable gearing. This design method can provide multiple peak values of velocity and torque by user. This module can be changed its placement as vertical and horizontal by electro-mechanical connectors on it. This joint module includes an EtherCAT communication system, non back-drivable planetary gearing. A low-level controller is also implemented inside of joint module.
AB - Many users demand modular manipulator that are able to deal with variable tasks in low-cost condition. This paper details the design of a joint module for a manually reconfigurable manipulator, which has manually configurable gearing. This design method can provide multiple peak values of velocity and torque by user. This module can be changed its placement as vertical and horizontal by electro-mechanical connectors on it. This joint module includes an EtherCAT communication system, non back-drivable planetary gearing. A low-level controller is also implemented inside of joint module.
KW - Design
KW - Gear
KW - Joint
KW - Modular Manipulator
UR - http://www.scopus.com/inward/record.url?scp=85034260137&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85034260137&partnerID=8YFLogxK
U2 - 10.1109/URAI.2017.7992681
DO - 10.1109/URAI.2017.7992681
M3 - Conference contribution
AN - SCOPUS:85034260137
T3 - 2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017
SP - 597
EP - 601
BT - 2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017
Y2 - 28 June 2017 through 1 July 2017
ER -