Design of safety mechanism for an industrial manipulator based on passive compliance |
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Authors: | Hwi-Su Kim Jung-Jun Park Jae-Bok Song and Jin-Ho Kyung |
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Affiliation: | (5) University of Massachusetts Medical School, Worcester, MA, USA; |
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Abstract: | In recent years, collision safety between humans and robots has drawn much attention since human-robot cooperation is increasingly
needed in various fields. Since positioning accuracy and collision safety are both important, an industrial manipulator should
maintain very high stiffness for positioning accuracy in a normal situation, but exhibit very low stiffness when subjected
to a collision force greater than the tolerance for human injury. To satisfy these requirements, we proposed in our previous
research a safety mechanism composed of a linear spring and a double-slider mechanism for a service robot with a small payload.
We modified this device to meet more stringent requirements for an industrial manipulator which usually has a payload higher
than a service robot. Several experiments on static and dynamic collisions showed high stiffness of the safety mechanism in
response to an external torque that was less than a predetermined threshold torque, but low stiffness that enabled absorption
of the collision force when the external torque exceeded the threshold. Thus, positioning accuracy and collision safety were
improved using the proposed design. Furthermore, a new safety criterion is suggested to verify the collision safety of a manipulator
that uses the proposed safety mechanism. |
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Keywords: | |
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