Safe joint mechanism using double slider mechanism and spring for humanoid robot arm

Hwi Su Kim, Jung Jun Park, Jae Bok Song

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

10 Citations (Scopus)

Abstract

In recent years, collision safety between a human and a robot has drawn much attention as service robots and humanoids are increasingly being used in the human environment. Safety of a robot arm can be achieved by either active or passive compliance system. Since active compliance systems with actuators are usually slow and expensive, several passive compliance systems with purely mechanical elements are proposed. Passive systems can provide faster response to collision and higher reliability than active systems. Since both positioning accuracy and collision safety are equally important, a robot arm should have very low stiffness when subjected to a collision force greater than the one causing human injury, but maintain very high stiffness otherwise. In order to implement these requirements, a safe joint mechanism composed of a linear spring, slider-crank mechanism, and 4-bar linkage is proposed in this research. Various experiments on static and dynamic collisions show high stiffness of the SJM against an external force of less than the pre-determined threshold force, but an abrupt drop in the stiffness when the external force exceeds this threshold, which guarantees positioning accuracy and collision safety.

Original languageEnglish
Title of host publication2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008
Pages73-78
Number of pages6
DOIs
Publication statusPublished - 2008
Event2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008 - Daejeon, Korea, Republic of
Duration: 2008 Dec 12008 Dec 3

Publication series

Name2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008

Other

Other2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008
CountryKorea, Republic of
CityDaejeon
Period08/12/108/12/3

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction

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  • Cite this

    Kim, H. S., Park, J. J., & Song, J. B. (2008). Safe joint mechanism using double slider mechanism and spring for humanoid robot arm. In 2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008 (pp. 73-78). [4755934] (2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008). https://doi.org/10.1109/ICHR.2008.4755934