DESIGN AND STATIC ANALYSIS OF ELASTIC FORCE AND TORQUE LIMITING DEVICES FOR SAFE PHYSICAL HUMAN-ROBOT INTERACTION

被引：0
|
作者：
Zhang, Meiying [1 ]
Laliberte, Thierry [1 ]
Gosselin, Clement [1 ]
机构：
[1] Univ Laval, Dept Genie Mecan, Quebec City, PQ G1V 0A6, Canada
来源：
PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, 2016, VOL 5B | 2016年
基金：
加拿大自然科学与工程研究理事会;
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D O I：
暂无
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
This paper presents the static analysis of elastic force and torque limiters that aim at limiting the forces that a robotic manipulator can apply on its environment. First, the design of one degree-of-freedom force and torque limiting mechanisms is presented. It is shown that a single elastic component (spring) can be used to provide a prescribed preload and stiffness in both directions of motion along a given axis. Then, the mechanisms are analyzed in order to determine the nonlinear relationships between the motion of the mechanism and the extension of the spring. These relationships can then be used in the design of the force and torque limiters. Finally, the force capabilities of the mechanisms are investigated and numerical results are provided for example designs.
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页数：10
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