NDLI: Safe Link Mechanism based on Passive Compliance for Safe Human-Robot Collision

Content Provider	IEEE Xplore Digital Library
Author	Jung-Jun Park Byeong-Sang Kim Jae-Bok Song Hong-Seok Kim
Copyright Year	2007
Description	Author affiliation: Dept. of Mech. Eng., Korea Univ., Seoul (Jung-Jun Park; Byeong-Sang Kim)
Abstract	A safe robot arm can be achieved by either passive or active compliance. The passive compliance systems composed of purely mechanical elements often provide faster and more reliable responses for dynamic collision than the active ones involving sensors and actuators. Since both positioning accuracy and collision safety are important, a robot arm should exhibit very low stiffness when subjected to the collision force greater than the one causing injury to humans, but maintain very high stiffness otherwise. To implement these requirements, a novel safe link mechanism (SLM), which consists of linear springs, a double-slider mechanism and shock absorbing modules, is proposed in this research. The main contribution of SLM lies in its variable stiffness capability implemented only by passive mechanical elements. Various experiments for static and dynamic collision show that the stiffness of SLM is kept very high for the external force less than the critical impact force, but it drops abruptly as the external force exceeds the critical force, thus guaranteeing the collision safety. Furthermore, the critical impact force can be set to any value depending on the applications.
Sponsorship	IEEE Robotics and Automation Soc
Starting Page	1152
Ending Page	1157
File Size	472384
Page Count	6
File Format	PDF
ISBN	1424406013
ISSN	10504729
DOI	10.1109/ROBOT.2007.363140
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-04-10
Publisher Place	Italy
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot sensing systems Safety Mechanical sensors Sensor systems Actuators Force sensors Injuries Humans Maintenance Springs
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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