TY - GEN
T1 - Development of Joint Actuators for Human-Friendly Manipulators with Low Inertia and Easy Assembly
AU - Morikawa, Kazuma
AU - Katsura, Seiichiro
N1 - Funding Information:
ACKNOWLEDGMENT This work was partially supported by JSPS KAKENHI Grant Number 21H04566 and Tateisi Science and Technology Foundation.
Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - Manipulators are versatile and are expected to be widely used. Safe and convenient manipulators are needed to facilitate close interaction with humans and to be utilized in people's daily lives. This paper proposes a new joint actuator configuration as a way to simultaneously solve human-friendly manipulator design elements such as small size, light weight, low moment of inertia, high back-drivability, reduced number of parts, and ease of disassembly and assembly. By dividing the stator and rotor into separate links instead of treating them as a single motor, we aimed to realize a compact mechanism and reduce the moment of inertia, as well as to make the links easily separable and connectable for convenient transportation and recombination.
AB - Manipulators are versatile and are expected to be widely used. Safe and convenient manipulators are needed to facilitate close interaction with humans and to be utilized in people's daily lives. This paper proposes a new joint actuator configuration as a way to simultaneously solve human-friendly manipulator design elements such as small size, light weight, low moment of inertia, high back-drivability, reduced number of parts, and ease of disassembly and assembly. By dividing the stator and rotor into separate links instead of treating them as a single motor, we aimed to realize a compact mechanism and reduce the moment of inertia, as well as to make the links easily separable and connectable for convenient transportation and recombination.
KW - actuator
KW - manipulator
KW - motor
KW - robot joints
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U2 - 10.1109/ICIT58465.2023.10143140
DO - 10.1109/ICIT58465.2023.10143140
M3 - Conference contribution
AN - SCOPUS:85163368104
T3 - Proceedings of the IEEE International Conference on Industrial Technology
BT - 2023 IEEE International Conference on Industrial Technology, ICIT 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2023 IEEE International Conference on Industrial Technology, ICIT 2023
Y2 - 4 April 2023 through 6 April 2023
ER -