Human-robot impact model: For safety assessment of collaborative robot design
Human-robot impact model: For safety assessment of collaborative robot design
复制标题
人机影响模型：用于协作机器人设计的安全评估
DOI：
10.1109/iris.2017.8250128
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发表时间：
2017
期刊：
影响因子：
--
通讯作者：
Björn Fagerström
中科院分区：
文献类型：
--
作者：
B. Vemula;Marcus Ramteen;G. Spampinato;Björn Fagerström
本文提出了一种基于柔性接触力（CCF）建模方法的碰撞仿真模型。该模型可以模拟代表机器人和人体各部位的非均匀和分层弹性体之间的物理碰撞。提出的CCF模型旨在供机器人设计者在协作机器人系统的设计和开发过程中执行安全评估任务。该CCF冲击模型的主要理论贡献与公式有关，该公式可以解释由于撞击体的非均匀性而导致的接触行为。通过与文献中其他可用的相关模型以及基于有限元的模拟模型的比较分析，评估了所提出的冲击模拟的相关性。最后，采用所提出的CCF模型，分析了不同机器人设计参数对不同冲击情景下冲击严重程度的影响。
In this research, a novel impact simulation model based on compliant contact force (CCF) modelling approach is presented. This model can simulate the physical impact between non-homogeneous and layered elastic bodies representing the robot and human body parts. The proposed CCF model is intended to be used by the robot designers to execute safety evaluation tasks during the design and development of collaborative robot systems. The main theoretical contribution from this CCF impact model is related to the formulations, which can account for the contact behavior due to the non-homogeneous nature of the impacting bodies. The relevance of the proposed impact simulation is evaluated based on a comparative analysis with other available relevant models from the literature as well as with Finite element based simulation model. Finally, the influence of various robot design parameters on the impact severity is analyzed for different impact scenarios by adopting the proposed CCF model.