Development of manipulator with collision force suppression mechanism

This paper presents a collision force suppression mechanism that is installed in the shoulder and elbow joints of a 5-DOF manipulator. The collision suppression mechanism consists of an air cushion bag, a transmission rack, a clutch gear and two compression springs. If the manipulator collides with an object or a human when the end-effector of the manipulator follows a target trajectory, the manipulator moves in the direction of the collision force to reduce the collision force. However, if the colliding object is eliminated, the end-effector follows a target trajectory once again. Through collision experiments, the effectiveness of the collision force suppression mechanism is verified.

[1]  Shigeki Sugano,et al.  Development of 4-DOF manipulator using mechanical impedance adjuster , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[2]  Tai-hoon Kim,et al.  Control and Automation , 2009 .

[3]  Shigeki Sugano,et al.  Design and development of a new robot joint using a mechanical impedance adjuster , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[4]  Kazuo Tanie,et al.  Collision-tolerant control of human-friendly robot with viscoelastic trunk , 1999 .

[5]  Taro Nakamura,et al.  Development of 3 DOF manipulator using ER fluid clutches for reduction of collision force , 2009 .

[6]  Taro Nakamura,et al.  Development of 3-DOF Soft Manipulator with ER Fluid Clutches , 2010 .

[7]  Hun-ok Lim,et al.  Development of collision force suppression mechanism , 2008, 2008 International Conference on Control, Automation and Systems.

[8]  Shigeki Sugano,et al.  A physical interference adapting hardware system using MIA arm and humanoid surface covers , 1999, Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289).

[9]  Shigeki Sugano,et al.  Development and evaluation of seven DOF MIA ARM , 1997, Proceedings of International Conference on Robotics and Automation.

[10]  Taro Nakamura,et al.  Development of a soft manipulator using a smart flexible joint for safe contact with humans , 2003, Proceedings 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2003).

[11]  Joseph F. Engelberger,et al.  Robotics in Service , 1989 .

[12]  Shigeki Sugano,et al.  Development of one-DOF robot arm equipped with mechanical impedance adjuster , 1995, Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots.

[13]  Hun-ok Lim,et al.  Development of human-friendly robot with collision force suppression mechanism , 2009, 2009 ICCAS-SICE.

[14]  Shimon Y. Nof,et al.  Handbook of Industrial Robotics , 2013 .

[15]  Vladimir J. Lumelsky,et al.  Real-time collision avoidance in teleoperated whole-sensitive robot arm manipulators , 1993, IEEE Trans. Syst. Man Cybern..

[16]  T. Nakamura,et al.  Development of a soft manipulator with flexible joints using smart fluid and Pneumatics cushion for collision with human , 2007, 2007 IEEE/ASME international conference on advanced intelligent mechatronics.