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RESEARCH

Robot Mechanism Design

Hydraulic System

Background

Specific motion, for example acceleration motion measured, should be replicated in lap level environment for research and development. Because of fast response, high stiffness, large power and so on, hydraulic system is used generally as an actuator of testing machines that generate the motions. But there are problems in the motion generation due to non-linearity of hydraulic system and large payload of a test object.

 

Summary

In order to obtain high tracking performance of hydraulic system, proper control methods have been proposed and designed. In addition, the hydraulic system has been analyzed theoretically and its virtual simulation have been performed.

Soft Joint Mechanism

Background

One of the important objects for a walking robot to walk well is to reduce the amount of impact when the leg touches an unspecified ground environment. Existing researchers have developed the SEA (Series Elastic Actuator) module in order to protect the robot and the human being who walk together with the human due to the impact from the unspecified external environment. The existing SEA module was manufactured by using a nonlinear spring or by using a commercial linear spring and measuring the torque by attaching an additional mechanism. It takes a lot of time and research expense to process the shape of SEA, and it requires a lot of time and effort because it requires additional shaft machining.

 

Summary

To solve this problem, we have developed a motor pack module for an integrated shaft type SEA module in order to minimize the processing cost in place of the spring and the power transmission shaft. And Coupled Leg Mechanism(CLM) is proposed to improve the efficiency for the dynamic motion.

Soft Robot Gripper/Hand

Background

Human hand is one of the most complex and sophisticated combination in our body. From the perspective of engineering analysis, there are a large number of sensors and actuators in the human hand, so current state of robot gripper can’t completely imitate human hands. A challenge in robotic gripper field is to mimic the human hand to perform specific task, such as grasping objects like human hands, doing some dirty or dangerous work.

The current robot gripper is composed of the rigid body, and the power has been transmitted through the gears. So to obtain a high performance, the robot gripper has been using a variety of sensor and actuator. A gripper using various parts becomes heavier, more expensive and more complicated. Also there are another safety problem between human and robot. So to solve these problem, several researches are put emphasis on the characteristics of the soft material, light and safety mechanism, minimized control system, and lower total costs.

 

Summary

In order to design an appropriate gripper, we analyzed the tasks that need to be performed and minimized friction effect. Base on modeling, optimized gripper structure and configuration. To get desired performance, select the suitable actuator and sensor.