8 accepted papers
Recently, with the increasing use of robots in various fields, there is a need for robot grippers to be adaptable to various environments, to avoid collisions and to grip objects safely. In this study a cam-based underactuated gripper with environmental adaptation (CUGEA) is proposed. Through a cam-
Because industrial robots are relatively heavy, most of motor torque are used to support the weight of a robot. Consequently, high-capacity motors and speed reducers are needed, resulting in a low energy efficiency and an increase in the manufacturing cost. To deal with this problem, a variety of sp
Most existing mechanical gravity compensators have been developed for revolute joints that are found in majority of articulated robot arms. However, robots such as patient transport robots use prismatic joints, which need to handle a heavy payload. In this study, a high-capacity linear gravity compe…
The use of high-capacity motors and harmonic drives increases the manufacturing cost and the energy consumption of the robot. It is well known that most motor torques are used to support the robot mass and payload. To deal with this problem, we propose a wall-mounted 3-DOF roll-pitch-pitch counterba…
Most collaborative robots use high-power motors for a good weight-to-payload ratio, thus leading to not only an increase in manufacturing cost but also possibility of injury at a collision between a human and a robot. To maintain high-performance with low-power driving units, a spring-based counterb…
In most 6 DOF robot arms, considerable amounts of gravitational torques due to the robot's own weight are applied to pitch joints of the robot, which causes most arms to use high capacity motors and speed reducers. A spring-based counterbalance mechanism can compensate for this gravitational torque,…
In recent years, much research has been done to develop various direct teaching schemes, in which an operator directly teaches a robot by hand guiding instead of using a teach pendant. However, conventional direct teaching methods are usually sensor based, thus leading to an expensive solution. To d…
As there have been many attempts for human-robot collaborations, various solutions to collision detection have been proposed in order to deal with safety issues. However, existing methods for collision detection include the usage of skin sensors or joint torque sensors, and cannot be applied to robo…