Development of a Human Safe, Multi-Degree-of-Freedom Robot Arm Technology using Pneumatic Muscles
Development of a Human Safe, Multi-Degree-of-Freedom Robot Arm Technology using Pneumatic Muscles
复制标题
利用气动肌肉开发人类安全、多自由度机械臂技术
DOI：
10.7210/jrsj.28.302
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发表时间：
2010
期刊：
影响因子：
--
通讯作者：
Y. Adachi
中科院分区：
文献类型：
--
作者：
Yasunao Okazaki;Masaki Yamamoto;Mayumi Komatsu;Yuko Tsusaka;Y. Adachi
用于家政或老年人护理任务的机器人系统将与人类互动，因此需要本质安全的设计。传统的机器人系统由重型、高功率和高刚度的电动机驱动，这使得它们不适合人类共存。为了克服这个问题，我们开发了一种使用气动肌肉执行器的机械臂系统，由于其重量轻且结构柔韧，因此具有本质安全性。在本文中，我们介绍了机器人手臂和相关控制系统的设计，表明机器人具有足以满足日常家务任务的定位和力控制精度。
Robotic systems intended for domestic housekeeping or elderly care tasks will have interaction with humans and therefore demand an intrinsically safe design. Conventional robotic systems are driven by heavy, high power and high stiffness electric motors, making them unsafe for human coexistence. To overcome this problem, we have developed a robotic arm system using pneumatic muscle actuators, which is intrinsically safe given its low weight and pliant structure. In this paper we present the design of the robot arm and associated control system, showing that the robot has positioning and force control accuracy sufficient for daily domestic tasks.