{"title":"A Reduced Mass-Spring-Mass Model of Compliant Robots Dedicated to the Evaluation of Impact Forces","authors":"Guillaume Jeanneau, Vincent Bégoc, S. Briot","doi":"10.1115/1.4062946","DOIUrl":null,"url":null,"abstract":"\n The introduction of intrinsic compliance in the design of robots allows to reduce the inherent risk for humans working in the vicinity of a robotic cell. Indeed, it permits to decouple the dynamic effects of the links' inertia from those of the rotors' inertia, thus reducing the maximum impact force. However, robot designers are lacking modeling tools to help simulate numerous collision scenarios, analyze the behaviour of a compliant robot and optimize its design. In this article, we introduce a method to reduce the model of a multi-link compliant robot in a simple translationnal mass-spring-mass system. Simulation results show that this reduced model allows to accurately predict the maximal impact force in the case of a collision with a constrained human body part, and thus estimate the severity of such collision. Multiple impact scenarios are conducted on two case-studies, a planar serial elastic robot and the R-Min robot, an underactuated parallel planar robot, designed for collaboration.","PeriodicalId":49155,"journal":{"name":"Journal of Mechanisms and Robotics-Transactions of the Asme","volume":null,"pages":null},"PeriodicalIF":2.2000,"publicationDate":"2023-07-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of Mechanisms and Robotics-Transactions of the Asme","FirstCategoryId":"94","ListUrlMain":"https://doi.org/10.1115/1.4062946","RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"ENGINEERING, MECHANICAL","Score":null,"Total":0}
引用次数: 0
Abstract
The introduction of intrinsic compliance in the design of robots allows to reduce the inherent risk for humans working in the vicinity of a robotic cell. Indeed, it permits to decouple the dynamic effects of the links' inertia from those of the rotors' inertia, thus reducing the maximum impact force. However, robot designers are lacking modeling tools to help simulate numerous collision scenarios, analyze the behaviour of a compliant robot and optimize its design. In this article, we introduce a method to reduce the model of a multi-link compliant robot in a simple translationnal mass-spring-mass system. Simulation results show that this reduced model allows to accurately predict the maximal impact force in the case of a collision with a constrained human body part, and thus estimate the severity of such collision. Multiple impact scenarios are conducted on two case-studies, a planar serial elastic robot and the R-Min robot, an underactuated parallel planar robot, designed for collaboration.
期刊介绍：
Fundamental theory, algorithms, design, manufacture, and experimental validation for mechanisms and robots; Theoretical and applied kinematics; Mechanism synthesis and design; Analysis and design of robot manipulators, hands and legs, soft robotics, compliant mechanisms, origami and folded robots, printed robots, and haptic devices; Novel fabrication; Actuation and control techniques for mechanisms and robotics; Bio-inspired approaches to mechanism and robot design; Mechanics and design of micro- and nano-scale devices.
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