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Analysis on Load Torque Effect for Assistive Robotic Arms
Int. J. Fuzzy Log. Intell. Syst. 2018;18(4):276-283
Published online December 25, 2018
© 2018 Korean Institute of Intelligent Systems.

Byoung-Ho Kim

Department of Mechatronics Engineering, Kyungsung University, Busan, Korea
Correspondence to: Byoung-Ho Kim (kimbh@ks.ac.kr)
Received October 12, 2018; Revised December 10, 2018; Accepted December 19, 2018.
This is an Open Access article distributed under the terms of the Creative Commons Attribution Non-Commercial License (http://creativecommons.org/licenses/by-nc/3.0) which permits unrestricted non-commercial use, distribution, and reproduction in any medium, provided the original work is properly cited.
Abstract
This paper analyses the load torque effect for assistive robotic arms. For the purpose, we consider a typical assistive robotic arm delivering some loads and derive the torque effect at the joint space of the robot arm. We also try to find the reliable torque range of each joint for exemplary load manipulation tasks. Thus the available torque patterns and ranges of the shoulder and elbow joints have been identified by various simulations and discussed the load effects for the delivering tasks by assistive robotic arms. As a result, this analysis is practically helpful for us to determine the specifications of actuators to be employed at the joint space of humanoid, prosthetic and industrial robotic arms. It is also applicable for the purpose of effective rehabilitation of human arms using some loads.
Keywords : Torque analysis, Shoulder and elbow joints, Assistive robotic arm, Rehabilitation