대한기계학회논문집A (Transactions of the Korean Society of Mechanical Engineers A)

  • 제29권11호
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  • Pages.1534-1541
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  • 2005
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  • 1226-4873(pISSN)
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  • 2288-5226(eISSN)
대한기계학회 (The Korean Society of Mechanical Engineers)
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4절링크의 전달각에 기초한 충격흡수식 안전기구

Shock-Absorbing Safety Mechanism Based on Transmission Angle of a 4-Bar Linkage

  • 발행 : 2005.11.01
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초록

Unlike industrial manipulators, the manipulators mounted on service robots are interacting with humans in various aspects. Therefore, safety has been one of the most important design issues. Many compliant robot arms have been introduced for safety. It is known that passive compliance method has faster response and higher reliability than active ones. In this paper, a new safety mechanism based on passive compliance is proposed. Passive mechanical elements, specifically transmission angle of the 4-bar linkage, springs and shock absorbing modules are incorporated into this safety mechanism. This mechanism works only when the robot arm exerts contact force much more than the human pain tolerance. Validity of this mechanism is verified by simulations and experiments. It is shown that the manipulator using this mechanism provides higher performance and safety than those using other passive compliance mechanisms or active methods.

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참고문헌

  1. Laurin-Kovitz, K.F. and Colgate, J. E., 1991, 'Design of Components for Programmable Passive Impedance,' Proc. of the IEEE International Conference on Robotics and Automation, pp. 1476-1481 https://doi.org/10.1109/ROBOT.1991.131824
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  6. Stephen H. Crandall and Norman C. Dahl, 1978, An Introduction to The Mechanics of Solids,' Second edition
  7. Yamada, Y., Hirasawa, Y, Huang, S.Y. and Umetani, Y., 1996, 'Fail-Safe Human/Robot Contact in the Safety Space,' IEEE International Workshop on Robot and Human Communication, pp. 59-64 https://doi.org/10.1109/ROMAN.1996.568748
  8. Yamada, Y, Suita, K., Imai, K., Ikeda, H. and Sugimoto, N., 1997, 'Human-Robot Contact in the Safeguarding Space,' IEEE/ASME Transactions on Mechatronics, Vol. 2, No. 4, pp. 230- 236 https://doi.org/10.1109/3516.653047

피인용 문헌

  1. Development of a Safe Manipulator for Positioning a Kiosk Panel vol.36, pp.1, 2012, https://doi.org/10.3795/KSME-A.2012.36.1.073