Safety evaluation method of robot arm considering energy of contact

Hideichi Nakamoto, Nobuto Matsuhira

研究成果: Conference contribution

抜粋

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.

元の言語English
ホスト出版物のタイトル2017 18th International Conference on Advanced Robotics, ICAR 2017
出版者Institute of Electrical and Electronics Engineers Inc.
ページ438-443
ページ数6
ISBN(電子版)9781538631577
DOI
出版物ステータスPublished - 2017 8 30
イベント18th International Conference on Advanced Robotics, ICAR 2017 - Hong Kong, China
継続期間: 2017 7 102017 7 12

Other

Other18th International Conference on Advanced Robotics, ICAR 2017
China
Hong Kong
期間17/7/1017/7/12

ASJC Scopus subject areas

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

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  • これを引用

    Nakamoto, H., & Matsuhira, N. (2017). Safety evaluation method of robot arm considering energy of contact. : 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