DOI QR코드

DOI QR Code

Safe Industrial Manipulator Based on a Counterbalancing Mechanism with Adaptation to the Posture Change of a Robot Base Plane

로봇 설치면 자세 변화에 대응 가능한 자중 보상 기반 안전 매니퓰레이터

  • Do, Hyun Min (Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials) ;
  • Kim, Hwi-Su (Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials) ;
  • Kim, Doo Hyeong (Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials) ;
  • Choi, Tae-Yong (Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials) ;
  • Park, Dong Il (Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials) ;
  • Son, Youngsu (Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials)
  • Received : 2016.10.12
  • Accepted : 2016.11.25
  • Published : 2016.12.15

Abstract

Guaranteeing the safety of human workers around robots has become an important issue with the increasing demand for human-robot collaboration in industrial production lines. This study proposes a robot manipulator equipped with a counterbalancing mechanism that reduces the power of actuators required to drive the robot, thus keeping a human worker safer in a human-robot collaborative environment. A counterbalancing torque that exactly cancels out the gravitational torque in the proposed mechanism is generated by restoring the force of a spring in the counterbalancing mechanism. A prototype design and experimental results are presented to verify the effectiveness of the proposed method.

Keywords

References

  1. Bogdan, S., Lewis, F.L., Kovacic, Z., Gurel, A., 2002, An implementation of the Matrix-based Supervisory Controller of Flexible Manufacturing Systems, IEEE Tran. Control System Technology, 10:5 709-716. https://doi.org/10.1109/TCST.2002.801876
  2. Moore, K.W., Newman, R., Chan, G., Leech, C., Allison, K., Coulson, J., Simpson, P.B., 2007, Implementation of a High Specification Dual-arm Robotic Platform to Meet Flexible Screening Needs, Journal of the Association for Laboratory Automation, 12:2 115-123. https://doi.org/10.1016/j.jala.2006.08.009
  3. Do, H. M., Choi, T.-Y., Kyung, J. H., 2016, Automation of Cell Production System for Cellular Phones using Dual-arm Robots, International Journal of Advanced Manufacturing Technology, 83 1349-1360. https://doi.org/10.1007/s00170-015-7585-1
  4. Park, C. H., Kyung, J. H., Park, D. I., Gweon, D.-G., 2010, Direct Teaching Algorithm for a Manipulator in a Constraint Condition using the Teaching Force Shaping Method, Advanced Robotics, 24 1365-1384. https://doi.org/10.1163/016918610X501471
  5. Universal Robots, viewed 10 Oct. 2016, .
  6. Park, J.-J., Song, J.-B., 2010, A Nonlinear Stiffness Safe Joint Mechanism Design for Human Robot Interaction, ASME Journal of Mechanical Design 132:6 0610051-0610058.
  7. ISO 10218-1:2006, viewed 10 Oct. 2016, .
  8. Kim, H.-S., Song, J.-B., 2014, Multi-dof Counterbalance Mechanism for a Service Robot Arm, IEEE/ASME Transactions of Mechatronics, 19:6 1756-1763. https://doi.org/10.1109/TMECH.2014.2308312
  9. ATI F/T Sensor: Mini58, viewed 10 Oct. 2016, .