Design and Modeling of a Compliant Link for Inherently Safe Corobots
Design and Modeling of a Compliant Link for Inherently Safe Corobots
复制标题
DOI：
10.1115/1.4038530
复制
发表时间：
2018-02
期刊：
影响因子：
--
通讯作者：
Y. She;H. Su;Deshan Meng;Siyang Song;Junmin Wang
中科院分区：
文献类型：
--
作者：
Y. She;H. Su;Deshan Meng;Siyang Song;Junmin Wang
在本文中，我们提出了一种可变宽度的兼容链接，旨在为本质上安全的corobots的安全性和控制性能的最佳权衡。有意地将顺应性引入机械设计，增加了机器人的安全性。传统的研究方法大多集中在联合顺应性上，而很少研究链路顺应性。在这里，我们提出了一种新的方法来设计符合机器人链接的安全约束，这是量化的头部伤害标准（HIC）。机器人连杆被建模为具有可变宽度的二维梁。在给定安全阈值的情况下，HIC约束，沿链路沿着的宽度分布被优化以给出HIC的均匀分布，这保证了人类操作员的固有安全。通过MATLAB中的人机碰撞仿真程序验证了该方法的有效性。通过有限元仿真，建立了变宽度连杆的静态模型，并进行了验证.与均匀梁和柔性接头（CJ）的设计相比，这种新设计不仅降低了连杆中的应力，而且通过更大的固有频率和更大的带宽量化了更好的控制和动态性能。所提出的可变宽度连杆充分利用了连杆的刚度，同时保持了固有的安全性，在人类机器人的影响。本文表明，兼容的链接解决方案可能是一个很有前途的替代方法，解决安全问题的人机交互。[DOI电话：10.1115/1.4038530]
In this paper, we propose a variable width compliant link that is designed for optimal trade-off of safety and control performance for inherently safe corobots. Intentionally introducing compliance to mechanical design increases safety of corobots. Traditional approaches mostly focus on the joint compliance, while few of them study the link compliance. Here, we propose a novel method to design compliant robotic links with a safety constraint which is quantified by head injury criterion (HIC). The robotic links are modeled as two-dimensional beams with a variable width. Given a safety threshold, i.e., HIC constraint, the width distribution along the link is optimized to give a uniform distribution of HIC, which guarantees inherent safety for human operators. This solution is validated by a human–robot impact simulation program built in MATLAB. A static model of the variable width link is derived and verified by finite element simulations. Not only stress in the link is reduced, this new design has a better control and dynamic performance quantified by a larger natural frequency and a larger bandwidth compared with designs made of uniform beams and compliant joints (CJs). The proposed variable width link takes full advantage of the link rigidity while keeps inherent safety during a human–robot impact. This paper demonstrates that the compliant link solution could be a promising alternative approach for addressing safety concerns of human–robot interactions. [DOI: 10.1115/1.4038530]