Design of joint module equipped with manually configurable reducer for gearing

Kanggyun Kim; Wooseok Choi; Woosub Lee; Woojin Chung; Sungchul Kang

doi:10.1109/URAI.2017.7992681

Design of joint module equipped with manually configurable reducer for gearing

Kanggyun Kim, Wooseok Choi, Woosub Lee, Woojin Chung, Sungchul Kang

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

Abstract

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.

Original language	English
Title of host publication	2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	597-601
Number of pages	5
ISBN (Electronic)	9781509030552
DOIs	https://doi.org/10.1109/URAI.2017.7992681
Publication status	Published - 2017 Jul 25
Event	14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017 - Jeju, Korea, Republic of Duration: 2017 Jun 28 → 2017 Jul 1

Publication series

Name	2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017

Other

Other	14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017
Country/Territory	Korea, Republic of
City	Jeju
Period	17/6/28 → 17/7/1

Bibliographical note

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).

Keywords

Design
Gear
Joint
Modular Manipulator

ASJC Scopus subject areas

Computer Science Applications
Biomedical Engineering
Artificial Intelligence
Human-Computer Interaction
Control and Optimization

Access to Document

10.1109/URAI.2017.7992681

Cite this

Kim, K., Choi, W., Lee, W., Chung, W., & Kang, S. (2017). Design of joint module equipped with manually configurable reducer for gearing. In 2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017 (pp. 597-601). Article 7992681 (2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/URAI.2017.7992681

Design of joint module equipped with manually configurable reducer for gearing. / Kim, Kanggyun; Choi, Wooseok; Lee, Woosub et al.
2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 597-601 7992681 (2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Kim, K, Choi, W, Lee, W, Chung, W & Kang, S 2017, Design of joint module equipped with manually configurable reducer for gearing. in 2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017., 7992681, 2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017, Institute of Electrical and Electronics Engineers Inc., pp. 597-601, 14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017, Jeju, Korea, Republic of, 17/6/28. https://doi.org/10.1109/URAI.2017.7992681

Kim K, Choi W, Lee W, Chung W, Kang S. Design of joint module equipped with manually configurable reducer for gearing. In 2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017. Institute of Electrical and Electronics Engineers Inc. 2017. p. 597-601. 7992681. (2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017). doi: 10.1109/URAI.2017.7992681

Kim, Kanggyun ; Choi, Wooseok ; Lee, Woosub et al. / Design of joint module equipped with manually configurable reducer for gearing. 2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 597-601 (2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017).

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Design of joint module equipped with manually configurable reducer for gearing

Abstract

Publication series

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Bibliographical note

Keywords

ASJC Scopus subject areas

Access to Document

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