Overload Clutch Design for Collision Tolerant High–Speed Industrial Robots

Frederik Ostyn, Tom Lefebvre, Bram Vanderborght, Guillaume Crevecoeur Crevecoeur

Onderzoeksoutput: Articlepeer review

5 Citaten (Scopus)


Industrial robots can collide due to malfunctioning,
wrong user input or unforeseen changes in the environment in
which they operate. Different solutions exist to minimize the
damage caused by a collision, either absorbed by the environment
or by the robot itself. The specific solution depends on the
type, size and dynamics of the robot. For high–speed industrial
robots, the challenge is in dealing with the large kinetic energy
upon impact without compromising the dynamic response during
normal operation. The Combined Friction Cam Clutch (CFCC)
is proposed as a solution for this problem. We provide a custom
mechanical design and derive equations to calculate the threshold
and residual torque which are identified as key design metrics.
The concept is validated experimentally on a test bench using a
prototype of the set-up.
Originele taal-2English
Pagina's (van-tot)863-870
Aantal pagina's8
TijdschriftIEEE Robotics and Automation Letters
Nummer van het tijdschrift2
StatusPublished - 16 apr 2021


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