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.
| Original language | English |
|---|---|
| Pages (from-to) | 2307-2313 |
| Number of pages | 7 |
| Journal | Journal of Mechanical Science and Technology |
| Volume | 24 |
| Issue number | 11 |
| DOIs | |
| Publication status | Published - 2010 Dec 27 |
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Keywords
- Collision safety
- Industrial manipulator
- Safe arm
- Safety mechanism
ASJC Scopus subject areas
- Mechanical Engineering
- Mechanics of Materials
Cite this
Design of safety mechanism for an industrial manipulator based on passive compliance. / Kim, Hwi Su; Park, Jung Jun; Song, Jae-Bok; Kyung, Jin Ho.
In: Journal of Mechanical Science and Technology, Vol. 24, No. 11, 27.12.2010, p. 2307-2313.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Design of safety mechanism for an industrial manipulator based on passive compliance
AU - Kim, Hwi Su
AU - Park, Jung Jun
AU - Song, Jae-Bok
AU - Kyung, Jin Ho
PY - 2010/12/27
Y1 - 2010/12/27
N2 - 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.
AB - 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.
KW - Collision safety
KW - Industrial manipulator
KW - Safe arm
KW - Safety mechanism
UR - http://www.scopus.com/inward/record.url?scp=78650401950&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=78650401950&partnerID=8YFLogxK
U2 - 10.1007/s12206-010-0814-5
DO - 10.1007/s12206-010-0814-5
M3 - Article
AN - SCOPUS:78650401950
VL - 24
SP - 2307
EP - 2313
JO - Journal of Mechanical Science and Technology
JF - Journal of Mechanical Science and Technology
SN - 1738-494X
IS - 11
ER -