Force Capabilities of Two-Degree-of-Freedom Serial Robots Equipped With Passive Isotropic Force Limiters
Force Capabilities of Two-Degree-of-Freedom Serial Robots Equipped With Passive Isotropic Force Limiters
复制标题
配备被动各向同性力限制器的二自由度串行机器人的受力能力
DOI：
10.1115/detc2015-46486
复制
发表时间：
2015
期刊：
影响因子：
--
通讯作者：
C. Gosselin
中科院分区：
文献类型：
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作者：
Meiying Zhang;T. Laliberté;C. Gosselin
本文提出了使用被动力和力矩限制装置来约束机器人末端执行器或连杆上的最大作用力，从而保证了人机交互的安全性。提出了平面各向同性力限制模，并将其应用于两自由度平面串联机器人的受力分析。首先对末端执行器的受力能力进行了分析。结果表明，采用各向同性限力模块后，机器人在所有构型下的安全性能指标均保持优异。然后分析了机器人各连杆上的最大接触力。力和力矩限制器沿机器人的结构分布，以确保沿连杆的任何接触点施加的力是有界的。为了支持这一结果，还进行了功率分析。最后，展示了力/扭矩限制器的机械设计的例子，以说明该概念的可能的实际实施。版权所有©2015，ASME
This paper proposes the use of passive force and torque limiting devices to bound the maximum forces that can be applied at the end-effector or along the links of a robot, thereby ensuring the safety of human-robot interaction. Planar isotropic force limiting modules are proposed and used to analyze the force capabilities of a two-degree-of-freedom planar serial robot. The force capabilities at the end-effector are first analyzed. It is shown that, using isotropic force limiting modules, the performance to safety index remains excellent for all configurations of the robot. The maximum contact forces along the links of the robot are then analyzed. Force and torque limiters are distributed along the structure of the robot in order to ensure that the forces applied at any point of contact along the links are bounded. A power analysis is then presented in order to support the results. Finally, examples of mechanical designs of force/torque limiters are shown to illustrate a possible practical implementation of the concept.Copyright © 2015 by ASME