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RESEARCH

Robot Mechanism Design

Physical Coaxial Damping SEA

Background

 There are many flexible joint designs that are delivering torque and absorbing shocks simultaneously. One of the most active areas of the research is the Series Elastic Actuator (SEA), which connects the motor and load by lowering the stiffness. In recent years, it should be possible to design not only the physical stiffness of the robot joint, but also the mechanical properties of physical damping.

 

Summary

 In this research, a new Coaxial Damping SEA (CODSEA) that can efficiently adjust the stiffness and dynamic damping is designed. The biggest advantage of CODSEA is that it can change the stiffness and damping efficiently by converting the geometry of the driving shaft and particle materials inside the driving shaft without additional systems.

MAVIS(Multi-curvAture Variable stIffness Soft) gripper

Background

The demand for soft robots is increasing in an atypical environment where existing robots are difficult to use, and research on soft robots is actively being conducted. Among them, many studies have been conducted on soft grippers that can handle objects of various sizes, shapes, stiffness, and weight. However, in the case of the existing soft gripper, the weight of the object that can be handled was limited because it is made of soft material and has low stiffness. And the problem exists that objects cannot be grasped stably because only one curvature can be implemented for one pneumatic pressure.

 

Summary

We developed MAVIS gripper that can implement variable stiffness and multi-curvature to solve the problem of weak stiffness and single curvature of the existing robot. The MAVIS gripper is applied with a pneumatic distribution component that divides the finger into three parts, enabling total of seven curvatures under one pressure. In addition, a phalanx structure inspired by the human phalanx is applied to increase the stiffness by 65% ​​compared to the existing particle jamming mechanism.

 

Dual-Drive Industrial Robot

Background

 To acquire large thrust and high velocity in industrial robots, the development of dual-drive axis for robot is essential. When applying the dual-drive axis system, synchronization control is necessary. Because of unbalanced constraints, model uncertainties and disturbance, there are synchronization error and it results in the lower performance and mechanical defects.

 

Summary

 So, analyzing the dynamic characteristics of the multi-motor driving system to synchronize the axes and designing the control algorithm of tracking and synchronizing for large payload is necessary. So we are researching the tracking and synchronizing control algorithm of dual-motor gantry robot to acquire the high performance and better efficiency.