On the impact force of human-robot interaction: Joint compliance vs. link compliance
On the impact force of human-robot interaction: Joint compliance vs. link compliance
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DOI：
10.1109/icra.2017.7989795
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发表时间：
2017-05
期刊：
影响因子：
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通讯作者：
Y. She;Deshan Meng;Junxiao Cui;H. Su
中科院分区：
文献类型：
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作者：
Y. She;Deshan Meng;Junxiao Cui;H. Su
在本文中，我们研究了机械柔度对人机交互冲击力的影响，更具体地说，是碰撞时的最大冲击力。在这里，我们考虑两种方法引入顺应工业机械手：关节顺应和链接顺应。为了比较它们对最大冲击力的影响，我们研究了两种2D机器人连杆的设计：关节处有扭转弹簧的刚性连杆和均匀柔性连杆。动态冲击模型基于赫兹接触模型。结果表明，在相同的横向刚度和所有其他惯性参数（如质量）下，当臂质量大于端质量时，柔性关节解比柔性连杆解产生更大的冲击力。通过仿真和实验验证了这一结论。研究表明，柔性链路解决方案可能是解决人机交互安全问题的一种有前途的方法。
In this paper, we study the effect of mechanical compliance on the impact force of human-robot interactions, more specifically the maximum impact force during a collision. Here we consider two methods of introducing compliance to industrial manipulators: joint compliance and link compliance. To compare their effect on the maximum impact force, we study two designs of a 2D robot link: a rigid link with torsion spring at the joint and a uniform compliant link. The dynamic impact model is based on the Hertz contact model. The results show that the compliant joint solution could produce a larger impact force than that of the compliant link solution if the arm mass is larger than that of the end mass, given the same lateral stiffness and all other inertial parameters (e.g. mass). Simulations and experiment have been done and verified this conclusion. The research demonstrates that the compliant link solution could be a promising approach for addressing safety concerns of human robot interactions.