Safety evaluation method of robot arm considering energy of contact

Hideichi Nakamoto, Nobuto Matsuhira

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, we propose a method for evaluating the safety of a robot arm mechanism. We summarize the trend of international standards with respect to the evaluation index of robot arms and their safety, and propose a method of evaluating mass characteristics based on human pain tolerance. This method is based on the mass characteristics of the arm: we calculate the virtual mass at the contact point, convert it to the reduced mass taking contact with a human body part into consideration, obtain the contact transfer energy and evaluate whether the permissible energy for each part is exceeded or not. We also evaluate the safety characteristics of two kinds of arm mechanism, and verify the distribution of transmitted energy and safe velocity during contact in the movable range. The proposed evaluation of mass characteristics related to safety is applicable to various arm mechanisms if only the mass distribution of the arm is known. It is a highly versatile method.

Original languageEnglish
Title of host publication2017 18th International Conference on Advanced Robotics, ICAR 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages438-443
Number of pages6
ISBN (Electronic)9781538631577
DOIs
Publication statusPublished - 2017 Aug 30
Event18th International Conference on Advanced Robotics, ICAR 2017 - Hong Kong, China
Duration: 2017 Jul 102017 Jul 12

Other

Other18th International Conference on Advanced Robotics, ICAR 2017
CountryChina
CityHong Kong
Period17/7/1017/7/12

Fingerprint

Robots
Point contacts
Energy transfer

Keywords

  • Contact
  • Mechanism
  • Robot Arm
  • Safety

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Mechanical Engineering
  • Control and Optimization

Cite this

Nakamoto, H., & Matsuhira, N. (2017). Safety evaluation method of robot arm considering energy of contact. In 2017 18th International Conference on Advanced Robotics, ICAR 2017 (pp. 438-443). [8023646] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICAR.2017.8023646

Safety evaluation method of robot arm considering energy of contact. / Nakamoto, Hideichi; Matsuhira, Nobuto.

2017 18th International Conference on Advanced Robotics, ICAR 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 438-443 8023646.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Nakamoto, H & Matsuhira, N 2017, Safety evaluation method of robot arm considering energy of contact. in 2017 18th International Conference on Advanced Robotics, ICAR 2017., 8023646, Institute of Electrical and Electronics Engineers Inc., pp. 438-443, 18th International Conference on Advanced Robotics, ICAR 2017, Hong Kong, China, 17/7/10. https://doi.org/10.1109/ICAR.2017.8023646
Nakamoto H, Matsuhira N. Safety evaluation method of robot arm considering energy of contact. In 2017 18th International Conference on Advanced Robotics, ICAR 2017. Institute of Electrical and Electronics Engineers Inc. 2017. p. 438-443. 8023646 https://doi.org/10.1109/ICAR.2017.8023646
Nakamoto, Hideichi ; Matsuhira, Nobuto. / Safety evaluation method of robot arm considering energy of contact. 2017 18th International Conference on Advanced Robotics, ICAR 2017. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 438-443
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