1A1-T11 Development of Collision Force Suppression Mechanism : Manipulator with Collision Force Suppression Mechanism(Cooperation between Human and Machine(1))

Abstract

This paper presents a collision force suppression mechanism that is installed in the joints of the manipulator of a human-friendly robot. The collision suppression mechanism consists of an outer circular disk, an inner circular disk, torsion springs, and compression springs. If the manipulator collides with an object, the suppression mechanism disconnects the manipulator from its joint, and it moves in the direction of the collision force depending on the spring reaction force. Moreover, if the object is eliminated, the end-effector follows a target position with a collision force control method. Through collision experiments, the effectiveness of the mechanism is verified.