1A1-T10 Development of Collision force suppression mechanism : Collision force suppression mechanism(Cooperation between Human and Machine(1))

Abstract

This paper presents a collision force suppression mechanism that can be installed in the joints of the manipulator of a human-friendly robot. The collision suppression mechanism can reduce collision forces without using any sensors. The mechanism consists of an outer circular disk, an inner circular disk, torsion springs and compression springs. If the manipulator with the suppression mechanism collides with an object, it disconnects from its joints, and it moves in the direction of the collision force depending on the spring reaction force. Moreover, if the object is eliminated, the manipulator connects back to its joints using the spring forces.