Force reflecting system using double tendon-sheath mechanism

A force delivery system using a double tendon-sheath mechanism of the present invention can compensate for a frictional force in accordance with the shape of the sheath and reflect the frictional force to target torque of a motor so that more accurate force can be delivered to a driving joint. Moreo...

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Bibliographic Details
Main Authors JUNG, YEONG TAE, BAE, JOON BUM
Format Patent
LanguageEnglish
Korean
Published 16.08.2018
Subjects
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
HAND TOOLS
MANIPULATORS
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
TRANSPORTING
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Summary:A force delivery system using a double tendon-sheath mechanism of the present invention can compensate for a frictional force in accordance with the shape of the sheath and reflect the frictional force to target torque of a motor so that more accurate force can be delivered to a driving joint. Moreover, the force delivery system has an idle pulley and a linear spring on the motor, thereby minimizing a change in pretension. 본 발명에 따른 이중 텐던-쉬스 메커니즘을 이용한 힘 전달 시스템은, 쉬스의 형상에 따른 마찰력을 보상하여 모터의 목표 토크에 반영함으로써, 구동 관절에 보다 정확한 힘의 전달이 가능하다. 또한, 본 발명은, 구동 모터 측에 아이들 풀리와 선형 스프링을 구비함으로써, 프리텐션의 변화를 최소화할 수 있다.
Bibliography:Application Number: KR20170034724