On Intrinsic Safety of Soft Robots
On Intrinsic Safety of Soft Robots
复制标题
DOI：
10.3389/frobt.2017.00005
复制
发表时间：
2017-02-20
影响因子：
3.4
通讯作者：
Cianchetti, Matteo
中科院分区：
文献类型：
--
作者：
Abidi, Haider;Cianchetti, Matteo
快速发展的软机器人领域的成功归功于它们所承诺的广阔前景。它们可以作为独立系统使用，也可以与现有的机器人技术协调工作。基于软和/或柔性材料，软机器人通常具有高灵活性，同时，它们也通常被认为是“本质安全的”。“这通常是正确的，从机械的角度来看，软体机器人可以被认为是更安全的，但有时使用不当。识别软体机器人可能存在的安全漏洞是本文的主题。在对机器人技术的安全性进行了概述之后，我们报告了使用软机器人技术可能产生的不安全条件的主要来源。安全方面的讨论分为三类：准静态，动态和材料故障。介绍了柔性机器人特有的安全因素，如鞭梢效应和高应变元件中的能量储存。提出了避免这种不安全状况的措施，如建立作业限制和采用视察制度和逮捕制度。
The rapidly growing field of soft robotics owes its success to the vast vistas of possibilities they promise. They may be utilized as standalone systems or work in harmony with the existing robotic technologies. Being based on soft and/or flexible materials, soft robots have usually high dexterity and, at the same time, they are also often considered "intrinsically safe." This is generally true and soft-bodied robots can be considered safer from a mechanical point of view, but this is sometimes improperly used. The identification of possible safety loopholes in soft robots is the subject of this paper. After a general overview of safety in robotics, we reported an overview of the main sources of unsafe conditions that may arise by the use of soft robotics technologies. Safety aspects are discussed in three categories: quasi-static, dynamic, and material failure. Some safety factors exclusive to soft robots such as whiplash-like effect and energy stored in highly strained elements are also introduced. Measures to avoid such unsafe conditions are presented such as establishing operational limits and introduction of inspection regimes and arrest systems.