Abstract

We have developed a human friendly robot that consists of two arms, a trunk, a waist, a mobile base. Each arm of the robot has 5 DOF including a hand, and its waist has 3 DOF. Its height is 1.42 m, and its total weight is 83.5 kg. In this paper, a new passive collision force suppression mechanism is described, which consists of two release air bags, a clutch gear, two coil springs, and four linear guides. The new suppression mechanism is installed in the waist and arm joints of the robot. Also, an air cushion bag is developed to absorb collision forces and to activate the suppression mechanism. In addition, a new soft cover is developed to cover the entire exterior of the robot. When a collision occurs between the robot and an object, the joint of the arm and/or the waist are disconnected by the collision force suppression mechanism depending on the magnitude of collision forces. If the impact force is very large, the mobile base moves in the opposite direction to the impact. Through collision experiments, the results show the effectiveness of the proposed suppression mechanism.

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