Safe joint mechanism using inclined link with springs for collision safety and positioning accuracy of a robot arm

Jung Jun Park, Jae Bok Song

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

32 Citations (Scopus)

Abstract

In recent years, the potential for collision between humans and robots has drawn much attention since service robots are increasingly being used in the human environment. A safe robot arm can be achieved using either an active or passive compliance method. A passive compliance system composed of purely mechanical elements often provides faster and more reliable responses to dynamic collision than an active system involving sensors and actuators. Since positioning accuracy and collision safety of a robot arm are equally important, a robot arm should have very low stiffness when subjected to a collision force capable of causing human injury. Otherwise, it should maintain a very high stiffness. To implement these requirements, a novel safe joint mechanism (SJM-III) consisting of an inclined link, a slider with rollers, and linear springs is proposed. The SJM-III has the advantage of nonlinear stiffness, which can be achieved only with passive mechanical elements. Various analyses and experiments on static and dynamic collisions show high stiffness of the SJM-III against an external torque less than a predetermined threshold torque, with an abrupt drop in stiffness when the external torque exceeds this threshold. The safe joint mechanism enables a robot manipulator to guarantee positioning accuracy and collision safety, and which is simple to install between an actuator and a robot link without a significant change in the robot's design.

Original languageEnglish
Title of host publication2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Pages813-818
Number of pages6
DOIs
Publication statusPublished - 2010
Event2010 IEEE International Conference on Robotics and Automation, ICRA 2010 - Anchorage, AK, United States
Duration: 2010 May 32010 May 7

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2010 IEEE International Conference on Robotics and Automation, ICRA 2010
CountryUnited States
CityAnchorage, AK
Period10/5/310/5/7

ASJC Scopus subject areas

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

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  • Cite this

    Park, J. J., & Song, J. B. (2010). Safe joint mechanism using inclined link with springs for collision safety and positioning accuracy of a robot arm. In 2010 IEEE International Conference on Robotics and Automation, ICRA 2010 (pp. 813-818). [5509492] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ROBOT.2010.5509492