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Abstract
Human safety is one of the most important problems in human-friendly robotics. We have developed a safety device to improve the safety for humans in the robot's workspace. The safety device consists of only mechanical components without actuators, controllers and batteries. The safety device locks the robot's joint after detecting the overdrive on the basis of the joint's angular velocity. In this paper, we design and develop a human-friendly robot with the mechanical safety devices. First, we discuss the design concept of the human-friendly robot. Second, we explain the mechanism of the safety device, briefly. Third, on the basis of the design concept, we develop a human-friendly robot. The human-friendly robot has a 5-DOF arm with ten safety devices, two drive units with four safety devices and two free casters. Fourth, we perform some experiments by using the robot. Finally, from the experimental results, we examine the usefulness of the safety devices mounted on the robot.
Published Version
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