Nonlinear Spring system for collision safety

Jung Jun Park, Hwi Su Kim, Jae-Bok Song

Research output: Chapter in Book/Report/Conference proceedingConference contribution

58 Citations (Scopus)

Abstract

Collision safety between humans and robots has, drawn much attention since service robots are increasingly, being used in human environments. A safe robot arm based on, passive compliance can usually provide faster and more reliable, responses for dynamic collision than an active one involving, sensors and actuators. Since both positioning accuracy and, collision safety of the robot arm are equally important, a robot, arm should have very low stiffness when subjected to a collision, force greater than the injury tolerance, but should otherwise, maintain very high stiffness. To implement these requirements, ,a novel safe joint mechanism (SJM-II) which has much smaller, size and lighter weight than the previous model, is proposed in, this research. The SJM-II has the advantage of nonlinear spring, which is achieved using only passive mechanical elements such, as linear springs and a double-slider mechanism. Various, analyses and experiments on static and dynamic collisions show, that stiffness of the SJM-II is kept very high against an external, torque less than the predetermined threshold torque, but, abruptly drops when the input torque exceeds this threshold, ,thereby guaranteeing positioning accuracy and collision safety., Furthermore, a robot arm with two SJM-IIs is verified to, achieve collision safety in 2D space.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages3371-3376
Number of pages6
DOIs
Publication statusPublished - 2009 Nov 2
Event2009 IEEE International Conference on Robotics and Automation, ICRA '09 - Kobe, Japan
Duration: 2009 May 122009 May 17

Other

Other2009 IEEE International Conference on Robotics and Automation, ICRA '09
CountryJapan
CityKobe
Period09/5/1209/5/17

Fingerprint

Robots
Torque
Stiffness
Actuators
Sensors
Experiments

ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Park, J. J., Kim, H. S., & Song, J-B. (2009). Nonlinear Spring system for collision safety. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 3371-3376). [5152268] https://doi.org/10.1109/ROBOT.2009.5152268

Nonlinear Spring system for collision safety. / Park, Jung Jun; Kim, Hwi Su; Song, Jae-Bok.

Proceedings - IEEE International Conference on Robotics and Automation. 2009. p. 3371-3376 5152268.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Park, JJ, Kim, HS & Song, J-B 2009, Nonlinear Spring system for collision safety. in Proceedings - IEEE International Conference on Robotics and Automation., 5152268, pp. 3371-3376, 2009 IEEE International Conference on Robotics and Automation, ICRA '09, Kobe, Japan, 09/5/12. https://doi.org/10.1109/ROBOT.2009.5152268
Park JJ, Kim HS, Song J-B. Nonlinear Spring system for collision safety. In Proceedings - IEEE International Conference on Robotics and Automation. 2009. p. 3371-3376. 5152268 https://doi.org/10.1109/ROBOT.2009.5152268
Park, Jung Jun ; Kim, Hwi Su ; Song, Jae-Bok. / Nonlinear Spring system for collision safety. Proceedings - IEEE International Conference on Robotics and Automation. 2009. pp. 3371-3376
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