Double safety measure for human symbiotic manipulator
Double safety measure for human symbiotic manipulator
复制标题
人体共生机械臂的双重安全措施
DOI：
10.1109/aim.1997.653000
复制
发表时间：
1997
期刊：
影响因子：
--
通讯作者：
S. Sugano
中科院分区：
文献类型：
--
作者：
T. Morita;S. Sugano
仅给出摘要表格。本文描述了一种人体共生机械臂的设计方法，主要侧重于保证人体安全和人机协作能力。安全设计参数涉及机械手外壳材料、运动控制、碰撞声明和安全指数。作为一种安全设计方法，建议根据峰值力和减速效果选择和使用粘弹性材料；当某些指标不能满足时，降低机械手运动速度；并为 1.0 m/s 的协作工作速度提供紧急停止，并为较低速度提供被动合规控制。开发了一个实际的安全罩并将其连接到七自由度力控机械臂上。
Summary form only given. This paper describes a design methodology for a human symbiotic manipulator which mainly focuses on guarantee of human safety and abilities of human-robot collaboration. Safety design parameters relate to manipulator cover materials, motion controls, collision statements, and safety indices. As a safety design methodology it is proposed that one select and use a viscoelastic material based on its peak force and deceleration effects; reduce the manipulator motion velocity when certain indices cannot be satisfied; and provide for emergency stops for cooperative work velocities of 1.0 m/s and passive compliance control for lower velocities. An actual safety cover is developed and attached to a 7-DOF force controlled manipulator.