Safe joint mechanism based on passive compliance for collision safety

Lecture Notes in Control and Information Sciences

Volumn 370, Issue , 2008, Pages 49-61

  Park, Jung Jun ^a   Song, Jae Bok ^a   Kim, Hong Seok ^b  

^a Korea University   (South Korea)

^b Korea Institute of Industrial Technology   (South Korea)

Author keywords

[No Author keywords available]

Indexed keywords

COMPLIANT MECHANISMS; MECHANICAL ACTUATORS; ROBOTIC ARMS; ROBOTICS; STIFFNESS;

CRITICAL IMPACT FORCE; MECHANICAL ELEMENTS; PASSIVE COMPLIANCE; POSITIONING ACCURACY; SAFE JOINT MECHANISMS; SENSORS AND ACTUATORS; SLIDER-CRANK MECHANISM; VARIABLE STIFFNESS;

DYNAMICS;

EID: 36749009674     PISSN: 01708643     EISSN: None     Source Type: Book Series    
DOI: 10.1007/978-3-540-76729-9_5     Document Type: Conference Paper

References (9)

1. Laurin-Kovitz, K., Colgate, J.: Design of components for programmable passive impedance. In: Proceedings of the IEEE International Conference on Robotics and Automation, pp. 1476-1481 (1991)
2. Morita, T., Sugano, S.: Development of one-D.O.F. robot arm equipped with mechanical impedance adjuster. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and System, pp. 407-412 (1995)
3. Okada, M., Nakamura, Y., Ban, S.: Design of programmable passive compliance shoulder mechanism. In: Proceedings of the IEEE International Conference on Robotics and Automation, pp. 348-353 (2001)
4. Kang, S., Kim, M.: Safe Arm Design for Service Robot. In: Proceedings of the International Conference on Control, Automation and System, pp. 88-95 (2002)
5. Tonietti, G., Schiavi, R., Bicchi, A.: Design and Control of a Variable Stiffness Actuator for Safe and Fast Physical Human/Robot Interaction. In: Proceedings of the IEEE International Conference on Robotics and Automation, pp. 528-533 (2000)
6. Park, J., Kim, B., Song, J.: Safe Link Mechanism based on Passive Compliance for Safe Human-Robot Collision. In: Proceedings of the IEEE International Conference on Robotics and Automation, pp. 1152-1157 (2007)
7. Wilson, C., Sadler, J.: Kinematics and Dynamics of Machinery, 2nd edn. Haper-Collins, New York (1993)
8. Yamada, Y., Hirasawa, Y., Huang, S., Umetani, Y.: Fail-safe human/robot contact in the safety space. In: Proceedings of the IEEE International Workshop on Robot and Human Communication, pp. 59-64 (1996)
9. Versace, J.: A review of the severity index. In: Proceedings of the 15th Stapp Car Crash Conference, pp. 771-779 (1971)