Abstract
Joint design and load transmission are crucial factors when building autonomous robots. On the one hand, heavy torques are often needed which result in multi-stage gearboxes, on the other hand the latter exhibit massive friction which gets in the way of energy-efficient actuation systems. Furthermore, the immense impact forces of a tumbling robot can easily break its joints, gears, and motors. This holds especially true for tall humanoid robots. In this paper we present a novel clutch for rotary joints which is able to resolve the aforementioned dilemma.
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Hild, M., Siedel, T., Geppert, T. (2011). Design of a Passive, Bidirectional Overrunning Clutch for Rotary Joints of Autonomous Robots. In: Jeschke, S., Liu, H., Schilberg, D. (eds) Intelligent Robotics and Applications. ICIRA 2011. Lecture Notes in Computer Science(), vol 7101. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-25486-4_40
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DOI: https://doi.org/10.1007/978-3-642-25486-4_40
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-25485-7
Online ISBN: 978-3-642-25486-4
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