TY - GEN
T1 - New collision force suppression mechanism and base control of human-friendly robot
AU - Tanaka, Naoto
AU - Iwama, Takayuki
AU - Kumagai, Shunsuke
AU - Takanishi, Atsuo
AU - Lim, Hun ok
N1 - Publisher Copyright:
© ICROS.
PY - 2018/12/10
Y1 - 2018/12/10
N2 - This paper describes a human-friendly robot capable of securing human safety in human-robot collisions. The upper body of the robot has 11 DOFs, including 3 DOFs in the waist, 2 DOFs in each shoulder, 1 DOF in each elbow and 1 DOF in each hand. The upper body is mounted on the base with four omnidirectional wheels. A new light-weight collision force suppression mechanism that is able to operate with very little backlash was developed and was installed at the elbow of the human-friendly robot. The suppression mechanism consists a drum, a clutch gear, two release air bag, two stopper linings, and four compression springs. Also, a base control method to secure human safety is discussed. Through collision experiments, the effectiveness of the collision force suppression mechanism and control method is verified.
AB - This paper describes a human-friendly robot capable of securing human safety in human-robot collisions. The upper body of the robot has 11 DOFs, including 3 DOFs in the waist, 2 DOFs in each shoulder, 1 DOF in each elbow and 1 DOF in each hand. The upper body is mounted on the base with four omnidirectional wheels. A new light-weight collision force suppression mechanism that is able to operate with very little backlash was developed and was installed at the elbow of the human-friendly robot. The suppression mechanism consists a drum, a clutch gear, two release air bag, two stopper linings, and four compression springs. Also, a base control method to secure human safety is discussed. Through collision experiments, the effectiveness of the collision force suppression mechanism and control method is verified.
KW - Air cushion bag
KW - Human safety
KW - Human-friendly robot
KW - Soft cover
KW - Suppression mechanism
UR - http://www.scopus.com/inward/record.url?scp=85060440378&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85060440378&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:85060440378
T3 - International Conference on Control, Automation and Systems
SP - 29
EP - 33
BT - International Conference on Control, Automation and Systems
PB - IEEE Computer Society
T2 - 18th International Conference on Control, Automation and Systems, ICCAS 2018
Y2 - 17 October 2018 through 20 October 2018
ER -