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

43 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
Country/TerritoryUnited States
CityAnchorage, AK
Period10/5/310/5/7

Bibliographical note

Funding Information:
79 Véase el documento de trabajo de la Comisión Resumen de la evaluación del impacto del impacto (SEC (2011) 328 final) que acompaña a la Comunicación de la Comisión al Parlamento Europeo, al Consejo, al Co-mité Económico y Social Europeo y al Comité de las Regiones: Disipación de las incertidumbres en torno a los derecho patrimoniales de las parejas internacionales (COM (2011) 125 final) y a la Propuesta de Reglamento del Consejo relativo a la competencia, la ley aplicable, el reconocimiento y la ejecución de resoluciones en materia de regímenes económico matrimoniales (COM (2011) 126 final) p. 8.

Funding Information:
El punto de partida para realizar la distribución y asignación de los recursos de los cónyuges en casos de divorcio se encuentra en el art. 25.1 Matrimonial Causes Act 1973 (en adelante, MCA), que establece que el juez deberá tener en cuenta todas las circuns-tancias del caso, priorizando eso sí, el bienestar de los hijos menores del matrimonio. Una disposición complementada con lo establecido en el art. 25.2 MCA que contiene un elenco de factores que el juez deberá valorar para justificar su decisión, tales como la duración del matrimonio o la conducta de los cónyuges.

ASJC Scopus subject areas

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

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