Design and analysis of variable yielding-torque spring clutch (VSC) for the safety of operating robot arm

Abstract

Joint stiffness control for safety is widely investigated and many devices are invented both active and passive control of joint stiffness. However, none of them are satisfied both larger torque endurance and active control. The variable yielding torque spring-clutch (VSC) can guarantee both active control and large torque endurance. This paper explains about initial motivation and detail procedures from design objective to making prototype and testing. © 2013 Springer-Verlag.