Design and Control of Robot Arms and Actuators for Greater Applicability, Safety and Sustainability

机器人手臂和执行器的设计和控制，提高适用性、安全性和可持续性

• 批准号: 170326-2013
• 负责人: Bone, Gary
• 金额: $ 1.68万
• 依托单位: McMaster University
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2013
• 资助国家: 加拿大
• 起止时间: 2013-01-01 至 2014-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=522789
• 关键词: Design; Control; Robot; Arms; Actuators

Today's robot arms are either too unsafe or too weak to be useful for many applications. Since sensors and software will never be 100% reliable, robot arms must be made intrinsically safe before they can work alongside or cooperatively with people in factories (rather than the current practice of isolating robot arms behind safety fences), and before they can help people in non-manufacturing applications, such as assisted living. A robot arm that is intrinsically safe will not cause injuries even when sensors or software fails. One way this can be accomplished by severely limiting the speed and force output of the arm. However, this will make the arm too unproductive and/or weak for many applications. A better approach is to mechanically design its components to prevent harmful impact forces from occurring if the arm collides with a person.

今天的机器人手臂要么太不安全，要么太弱，无法用于许多应用。 由于传感器和软件永远不会100%可靠，因此机器人手臂必须在本质上安全，然后才能与工厂中的人一起工作或合作（而不是目前将机器人手臂隔离在安全围栏后面的做法），并且在它们可以帮助非制造应用中的人之前，例如辅助生活。 本质安全的机器人手臂即使在传感器或软件故障时也不会造成伤害。 一种方法可以通过严格限制手臂的速度和力输出来实现。然而，这将使手臂在许多应用中过于低效和/或虚弱。 更好的方法是对其部件进行机械设计，以防止手臂与人碰撞时产生有害的冲击力。