| contributor author | Zhang, Meiying | |
| contributor author | Laliberté, Thierry | |
| contributor author | Gosselin, Clément | |
| date accessioned | 2017-11-25T07:18:15Z | |
| date available | 2017-11-25T07:18:15Z | |
| date copyright | 2017/9/3 | |
| date issued | 2017 | |
| identifier issn | 1942-4302 | |
| identifier other | jmr_009_02_021003.pdf | |
| identifier uri | http://138.201.223.254:8080/yetl1/handle/yetl/4235068 | |
| description abstract | This paper presents the static analysis of elastic force and torque limiters that aim at limiting the forces that a robotic manipulator can apply on its environment. First, the design of one-degree-of-freedom force and torque limiting mechanisms is presented. It is shown that a single elastic component (spring) can be used to provide a prescribed preload and stiffness in both directions of motion along a given axis. Then, the mechanisms are analyzed in order to determine the nonlinear relationships between the motion of the mechanism and the extension of the spring. These relationships can then be used in the design of the force and torque limiters. Finally, the force capabilities of the mechanisms are investigated and numerical results are provided for example designs. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Design and Static Analysis of Elastic Force and Torque Limiting Devices for Safe Physical Human–Robot Interaction | |
| type | Journal Paper | |
| journal volume | 9 | |
| journal issue | 2 | |
| journal title | Journal of Mechanisms and Robotics | |
| identifier doi | 10.1115/1.4035683 | |
| journal fristpage | 21003 | |
| journal lastpage | 021003-8 | |
| tree | Journal of Mechanisms and Robotics:;2017:;volume( 009 ):;issue: 002 | |
| contenttype | Fulltext | |
