Design and Development of Highly Torque Dense Robot Joint using Flexible Shaft based Remote Actuation

Muhammad Usman; Thierry Hubert; Amin Khorasani; Raphaël Guy Furnémont; Bram Vanderborght; Dirk Lefeber; Greet Van de Perre; Tom Verstraten

doi:https://doi.org/10.1109/AIM55361.2024.10637090

Design and Development of Highly Torque Dense Robot Joint using Flexible Shaft based Remote Actuation

Muhammad Usman, Thierry Hubert, Amin Khorasani, Raphaël Guy Furnémont, Bram Vanderborght, Dirk Lefeber, Greet Van de Perre, Tom Verstraten

Onderzoeksoutput: Conference paper › Research

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Samenvatting

Remote actuation is an important design technique
to reduce the moving mass of robots for safety. This paper
proposes a remote actuator based on the flexible shaft for robot
joints. High torque density is achieved at the robot joint, rated at
95 Nm with a low moving mass of 2.6 kg (1.8 kg at Joint + 0.8 kg
at Link). The design methodology is proposed to develop a remote
actuator using a flexible shaft with low-moving mass and torsional
compliance at the remote joint with three progressive prototypes.
The design of the conduit and link utilized for routing flexible
shaft across a joint through the links is analyzed and discussed.
A comparison is made with on-joint actuation and potential offjoint actuation using catalog data in terms of torque density,
highlighting the potential of remote actuation using a flexible
shaft for high payloads at high torque density.

Originele taal-2	English
Titel	IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics
Plaats van productie	Boston, USA
Uitgeverij	IEEE Explore
Pagina's	140-147
Aantal pagina's	8
Uitgave	2024
ISBN van elektronische versie	979-8-3503-5536-9
ISBN van geprinte versie	979-8-3503-5537-6
DOI's	https://doi.org/10.1109/AIM55361.2024.10637090
Status	Published - 22 aug 2024
Evenement	IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) - Sheraton Boston Hotel, 39 Dalton Street, Boston, United States Duur: 15 jul 2024 → 19 jul 2024 Congresnummer: 2024 https://www.aim2024.org/

Conference

Conference	IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)
Verkorte titel	IEEE/ASM AIM
Land/Regio	United States
Stad	Boston
Periode	15/07/24 → 19/07/24
Internet adres	https://www.aim2024.org/

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https://doi.org/10.1109/AIM55361.2024.10637090

PreprintAccepted author manuscript, 4,77 MBLicentie: CC BY-NC-ND

FWOSBO37: SBO Project : ELYSA : Energie-efficiente, lichtgewicht, veilige maar sterke manipulator arm voor cobot toepassingen
Vanderborght, B., Lefeber, D. & Verstraten, T.
1/10/20 → 30/09/24
Project: Toegepast

Citeer dit

Usman, M., Hubert, T., Khorasani, A., Furnémont, R. G., Vanderborght, B., Lefeber, D., Van de Perre, G., & Verstraten, T. (2024). Design and Development of Highly Torque Dense Robot Joint using Flexible Shaft based Remote Actuation. In IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics (2024 redactie, blz. 140-147). IEEE Explore. https://doi.org/10.1109/AIM55361.2024.10637090

Usman, Muhammad ; Hubert, Thierry ; Khorasani, Amin ; Furnémont, Raphaël Guy ; Vanderborght, Bram ; Lefeber, Dirk ; Van de Perre, Greet ; Verstraten, Tom. / Design and Development of Highly Torque Dense Robot Joint using Flexible Shaft based Remote Actuation. IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics. 2024. redactie Boston, USA : IEEE Explore, 2024. blz. 140-147

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abstract = "Remote actuation is an important design techniqueto reduce the moving mass of robots for safety. This paperproposes a remote actuator based on the flexible shaft for robotjoints. High torque density is achieved at the robot joint, rated at95 Nm with a low moving mass of 2.6 kg (1.8 kg at Joint + 0.8 kgat Link). The design methodology is proposed to develop a remoteactuator using a flexible shaft with low-moving mass and torsionalcompliance at the remote joint with three progressive prototypes.The design of the conduit and link utilized for routing flexibleshaft across a joint through the links is analyzed and discussed.A comparison is made with on-joint actuation and potential offjoint actuation using catalog data in terms of torque density,highlighting the potential of remote actuation using a flexibleshaft for high payloads at high torque density.",

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Usman, M , Hubert, T , Khorasani, A , Furnémont, RG , Vanderborght, B , Lefeber, D , Van de Perre, G & Verstraten, T 2024, Design and Development of Highly Torque Dense Robot Joint using Flexible Shaft based Remote Actuation. in IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics. 2024 edn, IEEE Explore, Boston, USA, blz. 140-147, IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Boston, Massachusetts, United States, 15/07/24. https://doi.org/10.1109/AIM55361.2024.10637090

Design and Development of Highly Torque Dense Robot Joint using Flexible Shaft based Remote Actuation. / Usman, Muhammad ; Hubert, Thierry ; Khorasani, Amin ; Furnémont, Raphaël Guy ; Vanderborght, Bram ; Lefeber, Dirk ; Van de Perre, Greet ; Verstraten, Tom.

IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics. 2024. redactie Boston, USA : IEEE Explore, 2024. blz. 140-147.

Onderzoeksoutput: Conference paper › Research

TY - GEN

T1 - Design and Development of Highly Torque Dense Robot Joint using Flexible Shaft based Remote Actuation

AU - Usman, Muhammad

AU - Hubert, Thierry

AU - Khorasani, Amin

AU - Furnémont, Raphaël Guy

AU - Vanderborght, Bram

AU - Lefeber, Dirk

AU - Van de Perre, Greet

AU - Verstraten, Tom

N1 - Conference code: 2024

PY - 2024/8/22

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N2 - Remote actuation is an important design techniqueto reduce the moving mass of robots for safety. This paperproposes a remote actuator based on the flexible shaft for robotjoints. High torque density is achieved at the robot joint, rated at95 Nm with a low moving mass of 2.6 kg (1.8 kg at Joint + 0.8 kgat Link). The design methodology is proposed to develop a remoteactuator using a flexible shaft with low-moving mass and torsionalcompliance at the remote joint with three progressive prototypes.The design of the conduit and link utilized for routing flexibleshaft across a joint through the links is analyzed and discussed.A comparison is made with on-joint actuation and potential offjoint actuation using catalog data in terms of torque density,highlighting the potential of remote actuation using a flexibleshaft for high payloads at high torque density.

AB - Remote actuation is an important design techniqueto reduce the moving mass of robots for safety. This paperproposes a remote actuator based on the flexible shaft for robotjoints. High torque density is achieved at the robot joint, rated at95 Nm with a low moving mass of 2.6 kg (1.8 kg at Joint + 0.8 kgat Link). The design methodology is proposed to develop a remoteactuator using a flexible shaft with low-moving mass and torsionalcompliance at the remote joint with three progressive prototypes.The design of the conduit and link utilized for routing flexibleshaft across a joint through the links is analyzed and discussed.A comparison is made with on-joint actuation and potential offjoint actuation using catalog data in terms of torque density,highlighting the potential of remote actuation using a flexibleshaft for high payloads at high torque density.

KW - robotics

KW - robot arm

KW - Robot Design

KW - Actuator Design

KW - Remote actuation systems

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EP - 147

BT - IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

PB - IEEE Explore

CY - Boston, USA

T2 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)

Y2 - 15 July 2024 through 19 July 2024

ER -

Usman M , Hubert T , Khorasani A , Furnémont RG , Vanderborght B , Lefeber D et al. Design and Development of Highly Torque Dense Robot Joint using Flexible Shaft based Remote Actuation. In IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics. 2024 redactie Boston, USA: IEEE Explore. 2024. blz. 140-147 https://doi.org/10.1109/AIM55361.2024.10637090

Design and Development of Highly Torque Dense Robot Joint using Flexible Shaft based Remote Actuation

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Conference

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Projecten

FWOSBO37: SBO Project : ELYSA : Energie-efficiente, lichtgewicht, veilige maar sterke manipulator arm voor cobot toepassingen

Citeer dit