Safe link mechanism based on nonlinear stiffness for collision safety

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

doi:10.1016/j.mechmachtheory.2007.10.004

Cited by 66 publications

(59 citation statements)

References 11 publications

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“…The (7) can be moved along the radial direction of the (3), thereby changing the moment arm of the lever. The rotatable connection point (4) of the lever (8) is connected with the output disc (1), and a roller (9) is installed on the other end of the lever (8) (whose back has a moving guide groove for the pivot).…”

Section: Conceptual Layoutmentioning

confidence: 99%

“…These sensors increase the cost, and the existence of a response delay is not suitable for dealing with highly dynamic situations in the environment. In the passive compliant actuators, the internal mechanical elastic elements not only ensure the safety of human-robot interaction, but can also be used to store and release the kinetic energy coming from the link's inertia [1].…”

Section: Introductionmentioning

confidence: 99%

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Design and Analysis of Two Types of Variable Stiffness Actuator Based on Adjustable Moment Arm Mechanism

Guo¹,

Tian²

2015

IJCA

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Section: Conceptual Layoutmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Design and Analysis of Two Types of Variable Stiffness Actuator Based on Adjustable Moment Arm Mechanism

Guo¹,

Tian²

2015

IJCA

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“…두 번째로는 접촉 센서를 사용하여 충 돌을 감지하고 그 충돌에 적절히 대응하여, 인간에게 전달되 는 충격력을 최소화하는 방법이다 [2]. 마지막으로, 상대적으 로 큰 충격력이 불가피하게 발생하였을 때, 수동 컴플라이언 스 장치를 사용하여 충격력을 흡수하는 방법이다 [3]. 이와 같 은 안전전략 중에서 첫 번째의 경로계획(path planning (a) (b) Fig.…”

Section: 서론 최근 들어 인간의 생활 공간에서 작업을 수행하는 서비스 로봇이 보급됨에 따라서 인간과 로봇 사이unclassified

Collision-Free Path Planning for a Redundant Manipulator Based on PRM and Potential Field Methods

박정준¹,

김휘수²,

송재복³

2011

Journal of Institute of Control, Robotics and Systems

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The collision-free path of a manipulator should be regenerated in the real time to achieve collision safety when obstacles or humans come into the workspace of the manipulator. A probabilistic roadmap (PRM) method, one of the popular path planning schemes for a manipulator, can find a collision-free path by connecting the start and goal poses through the roadmap constructed by drawing random nodes in the free configuration space. The path planning method based on the configuration space shows robust performance for static environments which can be converted into the off-line processing. However, since this method spends considerable time on converting dynamic obstacles into the configuration space, it is not appropriate for real-time generation of a collision-free path. On the other hand, the method based on the workspace can provide fast response even for dynamic environments because it does not need the conversion into the configuration space. In this paper, we propose an efficient real-time path planning by combining the PRM and the potential field methods to cope with static and dynamic environments. The PRM can generate a collision-free path and the potential field method can determine the configuration of the manipulator. A series of experiments show that the proposed path planning method can provide robust performance for various obstacles.

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“…Some Cartesian safety devices already exist. One of them Park et al (2007) was developed by the same researchers as the previously mentioned torque limiter. In this case, the sliderspring mechanism is packaged in the robot's last member, allowing the end-effector to become compliant if a collision induces a large moment relative to the mechanism.…”

Section: Nonlinear Passive Compliancementioning

confidence: 99%