日本機械学会関東支部総会講演会講演論文集
Online ISSN : 2424-2691
ISSN-L : 2424-2691
セッションID: OS1209
会議情報
OS1209 速度・接触力に基づくメカニカル安全装置を搭載した車輪移動式ロボット : 接触力に基づく安全装置の周波数応答解析
坂牛 寿成花崎 秀介甲斐 義弘
著者情報
会議録・要旨集 フリー

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抄録
Safety is one of the most important issues in human-friendly robots. We have proposed a velocity and contact force-based safety device for human-friendly robots and developed a wheeled mobile robot equipped with the safety devices. The safety device consists of only passive components without actuators, controllers, or batteries. The safety device has the "velocity detection mechanism", the "contact force detection mechanism", and the "switch-off and shaft-lock mechanism". However, the contact force detection mechanism may resonate with a robot vibration when the robot moves on a rough surface, because the mechanism has a plate, and two springs, that is, the mechanism is a mass-spring system. In this paper, we firstly review the robot with the safety devices. Secondly, we analyze the frequency response of the contact force detection mechanism. Thirdly, we propose a method to prevent the contact force detection mechanism from resonating with the robot vibration. Finally, we present experimental results to verify the usefulness of the proposed method.
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