A New Actuation Concept for Human-Friendly Robot Design
A New Actuation Concept for Human-Friendly Robot Design
复制标题
人性化机器人设计的新驱动概念
DOI：
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发表时间：
2004
期刊：
影响因子：
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通讯作者：
J. Salisbury
中科院分区：
文献类型：
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作者：
M. Zinn;O. Khatib;B. Roth;J. Salisbury
最近，人们对以人类为中心的机器人这一新兴领域越来越感兴趣。该领域的重点是医疗机器人和服务机器人等应用，这些应用需要机器人操作系统与人类之间的密切交互，包括人与机械手的直接接触。因此，以人为中心的机器人系统除了考虑传统的性能指标外，还必须考虑安全要求。为了实现安全，我们必须采用多种策略，涉及机械手设计的各个方面，包括机械、电气和软件体系结构。通过使用智能监测和控制机械手操作的电子硬件和软件安全机制，通常可以立即实现改进。可以在机械设计上实现进一步的改进。消除夹点和锋利的边缘可以消除撕裂或磨损损伤的可能性。然而，当与机器人机械手近距离工作时，存在的最严重的危险是可能产生大的冲击载荷，这可能导致重伤或死亡。为了评估碰撞造成严重伤害的可能性，我们可以利用汽车行业开发的经验公式，将头部加速度与伤害严重程度联系起来，称为头部损伤标准(HIC)。一个简单的二自由度质量弹簧模型可以用来预测在不受控制的撞击过程中会发生的头部加速。与HIC指数相结合，预测的加速度被用来估计在机器人操作器与人之间的碰撞中发生严重伤害的可能性。对于PUMA560，撞击速度为1米/S产生的最大HIC大于500，足以造成伤害(见图1)。[HIC指数与最大简化损伤分级(MAIS)相关，以提供从计算的HIC值到发生特定损伤严重程度的可能性的映射。图1显示了HIC值和相应的脑震荡损伤(或更大的)可能性。]如图1所示，添加顺应性覆盖物可以将冲击载荷降低一个数量级或更多。然而，将冲击载荷降低到安全水平所需的顺应性材料的数量可能会很大。(对于PUMA机器人，假设撞击速度为1米/S，允许的最大HIC指数为100，柔顺盖的厚度要求大于5英寸。)显然，增加大量的顺应性覆盖物是不切实际的，也不能解决高冲击载荷的根本原因；也就是，大型人性化机器人设计的新驱动概念
ecently, there has been increasing interest in the emerging field of humancentered robotics. This field focuses on applications such as medical robotics and service robotics, which require close interaction between robotic manipulation systems and human beings, including direct human-manipulator contact. As a result, human-centered robotic systems must consider the requirements of safety in addition to the traditional metrics of performance. To achieve safety we must employ multiple strategies involving all aspects of manipulator design, including the mechanical, electrical, and software architectures. Immediate improvement can often be realized with the use of electronic hardware and software safety mechanisms that intelligently monitor and control manipulator operations. Additional improvements can be realized in the mechanical design. The elimination of pinch points and sharp edges can eliminate the potential for laceration or abrasion injuries. However, the most serious hazard present when working in close proximity with robotic manipulators is the potential for large impact loads, which can result in serious injury or death. To evaluate the potential for serious injury due to impact we can make use of an empirical formula developed by the automotive industry to correlate head acceleration to injury severity known as the head injury criteria (HIC). A simple two-degree-offreedom mass-spring model can be used to predict head accelerations that would occur during an uncontrolled impact. In combination with the HIC index, predicted accelerations are used to estimate the likelihood of serious injury occurring during an impact between a robotic manipulator and a human. For the PUMA 560, an impact velocity of 1 m/s produces a maximum HIC greater than 500, more than enough to cause injury (see Figure 1). [The HIC index is correlated with the maximum abbreviated injury scale (MAIS) to provide a mapping from the calculated HIC values to the likelihood of an occurrence of a specific injury severity level. In Figure 1, HIC values and the corresponding likelihood of a concussive injury (or greater) are shown.] As seen in Figure 1, the addition of a compliant covering can reduce impact loading by an order of magnitude or more. However, the amount of compliant material required to reduce impact loads to a safe level can be substantial. (For the PUMA robot, the required thickness of a compliant cover is more than 5 in, assuming an impact velocity of 1 m/s and an allowable maximum HIC index of 100.) Clearly, adding large amounts of compliant covering is impractical and does not address the root cause of high-impact loads; namely, the large A New Actuation Concept for Human-Friendly Robot Design