A Centrifugal Force-Based Configuration-Independent High-Torque-Density Passive Brake for Human-Friendly Robots
A Centrifugal Force-Based Configuration-Independent High-Torque-Density Passive Brake for Human-Friendly Robots
复制标题
用于人性化机器人的基于离心力的配置无关的高扭矩密度被动制动器
DOI：
--
复制
发表时间：
2016
期刊：
影响因子：
--
通讯作者：
O. Khatib
中科院分区：
文献类型：
--
作者：
Dongjun Shin;A. Tanaka;Namho Kim;O. Khatib
安全驱动是人机协作的重要要求之一。为了安全调节关节速度，已经开发了各种被动制动器，但其性能受重力方向和安装位置的影响很大，因此不适合多自由度机器人应用。为了解决这些问题，我们开发了一种基于离心力的、不依赖于配置的高扭矩密度被动制动器。在相对于重力方向的任何方向上，制动器都能以所需的速度限制快速双向激活。提出了一种针对高扭矩密度和低反射惯性的设计优化方法，该方法允许在系统发生故障时进行固有的安全驱动。实验结果表明，该制动器是一种有效的多自由度人性化机器人速度限制方案。
Safe actuation is one of the most important requirements for human-robot collaboration. Although a variety of passive brakes have been developed in order to safely regulate joint velocities, their performances are significantly subjective to gravity direction and mounting position, and thus are not suitable for multi-degrees of freedom (DoF) robotic applications. Addressing these issues, we developed a centrifugal force-based configuration-independent high-torque-density passive brake. The brake is rapidly and bidirectionally activated at the desired velocity limit in any orientation relative to the direction of gravity. A design optimization methodology is proposed for high-torque density and low-reflected inertia, which allows for inherent safe actuation in the event of a system failure. Experimental results demonstrate that the proposed brake is an effective solution for limiting velocity in multi-DoF human-friendly robots.