Safe pHRI via the Variable Stiffness Safety-Oriented Mechanism (V2SOM): Simulation and Experimental Validations
Résumé
Robots are gaining a foothold day-by-day in different areas of people’s lives. Collaborative robots (cobots) need to display human-like dynamic performance. Thus, the question of safety during physical human–robot interaction (pHRI) arises. Herein, we propose making serial cobots intrinsically compliant to guarantee safe pHRI via our novel designed device, V2SOM (variable stiffness safety-oriented mechanism). Integrating this new device at each rotary joint of the serial cobot ensures a safe pHRI and reduces the drawbacks of making robots compliant. Thanks to its two continuously linked functional modes—high and low stiffness—V2SOM presents a high inertia decoupling capacity, which is a necessary condition for safe pHRI. The high stiffness mode eases the control without disturbing the safety aspect. Once a human–robot (HR) collision occurs, a spontaneous and smooth shift to low stiffness mode is passively triggered to safely absorb the impact. To highlight V2SOM’s effect in safety terms, we consider two complementary safety criteria: impact force (ImpF) criterion and head injury criterion (HIC) for external and internal damage evaluation of blunt shocks, respectively. A pre-established HR collision model is built in Matlab/Simulink (v2018, MathWorks, France) in order to evaluate the latter criterion. This paper presents the first V2SOM prototype, with quasi-static and dynamic experimental evaluations.
Domaines
Mécanique des fluides [physics.class-ph] Matériaux Acoustique [physics.class-ph] Automatique / Robotique Electromagnétisme Milieux fluides et réactifs Energie électrique Polymères Acoustique [physics.class-ph] Biomécanique [physics.med-ph] Matériaux et structures en mécanique [physics.class-ph] Thermique [physics.class-ph] Vibrations [physics.class-ph] Physique mathématique [math-ph] Physique Quantique [quant-ph]
Origine : Publication financée par une institution
Licence : CC BY - Paternité
Licence : CC BY - Paternité