Prismatic Compliant Joint for Safe Cobots
This paper analyses the safety performances of a collaborative robot, i.e. cobot, when using a new prismatic compliant joint (PCJ) on its end-effector. The proposed PCJ with variable stiffness gives an intrinsic compliance to the cobot. This feature allows to preserve the human safety when both human and collaborative robot share a common workspace. In order to validate the effectiveness of the proposed compliant joint in terms of human safety compared with a classical rigid-body robot, we developed a dynamic simulator emulating the behavior of a cobot when using the proposed compliant joint. We present a study case, where the impact force is used as a safety performance criterion.
KeywordsIntrinsic compliance Variable stiffness mechanism Safe human-robot interaction Cobot
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