Safe link mechanism based on nonlinear stiffness for collision safety

Jung Jun Park, Byeong Sang Kim, Jae-Bok Song, Hong Seok Kim

Research output: Contribution to journalArticle

44 Citations (Scopus)

Abstract

A safe robot arm can be achieved by either a passive or active compliance system. A passive compliance system composed of purely mechanical elements often provide faster and more reliable responses for dynamic collision than an active one involving sensors and actuators. Since both positioning accuracy and collision safety are important, a robot arm should exhibit very low stiffness when subjected to a collision force greater than the one causing human injury, but maintain very high stiffness otherwise. To implement these requirements, a novel safe link mechanism (SLM), which consists of linear springs, a double-slider mechanism and shock-absorbing modules, is proposed in this research. The SLM has the advantages of variable stiffness which can be achieved only by passive mechanical elements. Various experiments of static and dynamic collisions showed the high stiffness of the SLM against an external force of less than the critical impact force, but an abrupt drop in the stiffness when the external force exceeds the critical force, thus guaranteeing collision safety. Furthermore, the critical impact force can be set to any value depending on the application.

Original languageEnglish
Pages (from-to)1332-1348
Number of pages17
JournalMechanism and Machine Theory
Volume43
Issue number10
DOIs
Publication statusPublished - 2008 Oct 1

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Stiffness
Robots
Actuators
Sensors
Experiments
Compliance

Keywords

  • Nonlinear stiffness
  • Passive compliance
  • Safe robot arm
  • Safety mechanism

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Mechanical Engineering

Cite this

Safe link mechanism based on nonlinear stiffness for collision safety. / Park, Jung Jun; Kim, Byeong Sang; Song, Jae-Bok; Kim, Hong Seok.

In: Mechanism and Machine Theory, Vol. 43, No. 10, 01.10.2008, p. 1332-1348.

Research output: Contribution to journalArticle

Park, Jung Jun ; Kim, Byeong Sang ; Song, Jae-Bok ; Kim, Hong Seok. / Safe link mechanism based on nonlinear stiffness for collision safety. In: Mechanism and Machine Theory. 2008 ; Vol. 43, No. 10. pp. 1332-1348.
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