DocumentCode
504879
Title
Development of human-friendly robot with collision force suppression mechanism
Author
Lim, Hun-ok ; Sunagawa, Masahiko ; Takeuchi, Naoki
Author_Institution
Dept. of Mech. Eng., Kanagawa Univ., Yokohama, Japan
fYear
2009
fDate
18-21 Aug. 2009
Firstpage
5712
Lastpage
5716
Abstract
This paper presents the mechanism of a human-friendly robot that is able to suppress collision forces. The human-friendly robot consists of a mobile base and a manipulator with a collision suppression mechanism. The mechanism is composed of an electromagnetic clutch and a rotary damper. If the manipulator collides with an object, the joint axis of the manipulator separates from the electromagnetic clutch. Then, the collision force is passively suppressed by the damper. Through collision experiments, the effectiveness of the collision mechanism is verified.
Keywords
clutches; manipulators; mobile robots; shock absorbers; collision force suppression mechanism; electromagnetic clutch; human-friendly robot; joint axis; manipulator; rotary damper; Control systems; Electromagnetic forces; Force control; Humans; Infrared detectors; Manipulators; Robotics and automation; Robots; Safety devices; Springs; collision force; electromagnetic clutch; human-friendly robot; rotary damper; suppression mechanism;
fLanguage
English
Publisher
ieee
Conference_Titel
ICCAS-SICE, 2009
Conference_Location
Fukuoka
Print_ISBN
978-4-907764-34-0
Electronic_ISBN
978-4-907764-33-3
Type
conf
Filename
5334864
Link To Document