Abstract
A novel spring-assisted modular and reconfigurable robot (SA-MRR) has been recently developed at our laboratory to reinforce its performance, and to enable safe and dexterous operations in human environments. A power spring is inserted between the brake rotor and the motor shaft through a decoupling bearing. With the spring engaged, the working range of the joint is mechanically limited for safe operations, and such a limited working range can be established at any joint position. The safety aspect of the SA-MRR is investigated by operating the robot in a limited workspace created by activating the spring. The trajectory tracking capability of the SA-MRR is explored by comparing trajectories followed by a conventional MRR and SA-MRR in a restricted workspace, while lifting a heavy payload. Trajectory tracking is performed with various payloads to demonstrate the SA-MRR’s superior payload handling capacity performance due to addition of the spring-generated moment. These algorithms have been implemented on a 3-DOF SA-MRR and numerical simulations have been carried out to investigate the improved tracking accuracy and safety features due to addition of the spring-brake system.
Highlights
Most industrial robots used in a manufacturing environment have their workspace isolated from humans, for the safety of human workers
With the springbrake system activated, the spring-assisted modular and reconfigurable robot (SA-modular and reconfigurable robot (MRR)) is safer than conventional robot manipulators because even if the joint actuator loses control while following a given trajectory, the joint is still limited to the small area defined by the maximum spring-deformation
6.1 Conclusions This thesis presents a study of the applications of the spring-assisted modular and reconfigurable robots, which is equipped with a power spring and magnetic brake at each joint
Summary
Most industrial robots used in a manufacturing environment have their workspace isolated from humans, for the safety of human workers. The human operator brings experience, knowledge and understanding for the correct methods to execute a task [1] This raises the safety issues related to physical human-robot interaction. Robot joints with springs or similar mechanisms have been developed to limit the robot’s working envelope for safe operation in human presence [3]-[6]. These approaches, discussed in detail in later sections, are effective in limited scenarios. Spring-assisted motion is used to control the robot’s working range and velocity while operating in the presence of a human operator, providing a safe human-robot collaboration environment. The objective of the present work is to explore the application potentials of the spring assisted modular and reconfigurable robot, including safe operation and improved trajectory tracking capability for a 3-DOF manipulator in a restricted workspace
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
