Passive collision force suppression mechanism for robot manipulator

Ōno, Yoshiaki; Shimamoto, Kazuya; Nogawa, Takuma; Masuta, Hiroyuki; Lim, Hun-ok

doi:10.1109/iros.2013.6696365

Cited by 6 publications

(6 citation statements)

References 20 publications

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“…Figure 5 shows the experimental setup. In order to verify the performance of the air cushion bag, the air cushion bag is attached to an aluminum pipe and is dropped Figure 6 shows the relationship between energy and internal air pressure [9]. The maximum internal air pressure is plotted every trial.…”

Section: Waist Of Human-friendly Robotmentioning

confidence: 99%

“…Also, the initial internal air pressure of 115.0 [KPa] is employed. Figure 7 shows the energy and the internal pressure of the two contact areas [9]. The change in internal air pressure is the same regardless of the contact area when the energy is between 0 [J] and 2.5 [J].…”

Section: Waist Of Human-friendly Robotmentioning

confidence: 99%

“…However, if the contact area is 20 [mm] x 200 [mm], there is little change in internal pressure when the energy is larger than 2.5 [J] because the air cushion bag is maximally deformed. Fig.7 Energy and internal pressure to two contact areas Figure 8 shows the collision forces in experiments where the aluminum pipes are dropped with and without the air cushion bag [9]. In this experiment, the initial air pressure of the air cushion bag is 105.0 [KPa].…”

Section: Waist Of Human-friendly Robotmentioning

confidence: 99%

“…A passive collision force mechanism which consists of an inner disk, outer disks, compression springs, a guide, and a slider was proposed [8]. A more reliable collision force suppression mechanism activated by an air cushion bag was proposed [9]. If a collision between a conventional robot and a human occurs, it is difficult for the robot to secure human safety.…”

Section: Introductionmentioning

confidence: 99%

“…It is used to recover the position of the waist when after a collision. Figure 3 shows the collision force suppression mechanism [9].When the robot is not in a collision with an object, the clutch gear of the suppression mechanism is firmly connected to two linear guides that consist of a rack and a pinion as shown in Figure 3 (a). When the robot collides with an object, the impact/collision force is absorbed by the air cushion bag.…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

Development of human-friendly robot's waist with passive collision force suppression mechanism

Matsumoto

Ōno

Lim

2014

2014 Joint 7th International Conference on Soft Computing and Intelligent Systems (SCIS) and 15th International Symposium on Ad

Self Cite

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This paper describes the development of a waist for a human friendly robot. The waist consists of pitch, roll, and yaw axes at which a passive collision force suppression mechanism is installed. The whole robot body of the robot is also covered by an air cushion bag capable of reducing impact force. When a collision between an object and the robot occurs, the collision/contact force is first suppressed by the air cushion bag. However, if a larger collision force is exerted on the robot, the passive collision force suppression mechanism is activated, and the force is reduced to almost zero. Using the human friendly robot, many collision experiments have been conducted, and the effectiveness of the collision force suppression mechanism is confirmed.

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Section: Waist Of Human-friendly Robotmentioning

confidence: 99%

Section: Waist Of Human-friendly Robotmentioning

confidence: 99%

Section: Waist Of Human-friendly Robotmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Development of human-friendly robot's waist with passive collision force suppression mechanism

Matsumoto

Ōno

Lim

2014

2014 Joint 7th International Conference on Soft Computing and Intelligent Systems (SCIS) and 15th International Symposium on Ad

Self Cite

View full text Add to dashboard Cite

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Collision force suppression system for human‐friendly robot

Zhang

Tanaka

Lim

2021

Electrical Engineering Japan

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A collision force suppression system for a human friendly robot, which consists of two arms, a trunk, a waist, an omnidirectional mobile base, is proposed. In this paper, the proposed passive collision force suppression system is realized by the collision force suppression mechanisms and the reaction system. When the collision occurs between the robot and an object, the joints of the arm and the waist are disconnected by the collision force suppression mechanism depending on the magnitude of collision forces. The reaction system is based on the strength and existence time of the collision force, and the joints are disconnected by the order of arm and waist, and the finally the mobile base will move if the reactions are not enough to decrease the passive force. The effectiveness of the proposed system is proven by experiments.

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A framework for multi-robot coverage analysis of large and complex structures

Dai

Hassan

Sun³

et al. 2021

J Intell Manuf

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Coverage analysis is essential for many coverage tasks (e.g., robotic grit-blasting, painting and surface cleaning) performed by Autonomous Industrial Robots (AIRs). Coverage analysis enables (1) the performance evaluation (e.g., coverage rate and operation efficiency) of AIRs for a coverage task, and (2) the configuration design of a multi-AIR system (e.g., decision on the number of AIRs to be used). Multi-AIR coverage analysis of large and complex structures involves addressing various problems. Thus, a framework is presented in this paper that incorporates various modules (e.g., AIR reachability, AIR base placement, collision avoidance, and area partitioning and allocation) for appropriately addressing the associated problems. The modules within the framework provide the flexibility of utilizing different methods and algorithms, depending on the requirements of the target application. The framework is tested and validated by extensive analyses of 10 different scenarios with up-to 10 AIRs.

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Passive collision force suppression mechanism for robot manipulator

Cited by 6 publications

References 20 publications

Development of human-friendly robot's waist with passive collision force suppression mechanism

Development of human-friendly robot's waist with passive collision force suppression mechanism

Collision force suppression system for human‐friendly robot

A framework for multi-robot coverage analysis of large and complex structures

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