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Robotics 2019, 8(1), 18; https://doi.org/10.3390/robotics8010018

V2SOM: A Novel Safety Mechanism Dedicated to a Cobot’s Rotary Joints

Department of GMSC, Pprime Institute CNRS, ENSMA, University of Poitiers, UPR 3346, 86073 Poitiers, France
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This paper is an extended version of our paper published in Ayoubi, Y.; Laribi, M.A.; Zeghloul, S.; Arsicault, M. Design of V2SOM: The Safety Mechanism for Cobot’s Rotary Joints. In Proceedings of the IFToMM Symposium on Mechanism Design for Robotics, Udine, Italy, 11–13 August 2018.
Received: 11 January 2019 / Revised: 25 February 2019 / Accepted: 25 February 2019 / Published: 6 March 2019
(This article belongs to the Special Issue Mechanism Design for Robotics)
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Abstract

Unlike “classical” industrial robots, collaborative robots, known as cobots, implement a compliant behavior. Cobots ensure a safe force control in a physical interaction scenario within unknown environments. In this paper, we propose to make serial robots intrinsically compliant to guarantee safe physical human–robot interaction (pHRI), via our novel designed device called V2SOM, which stands for Variable Stiffness Safety-Oriented Mechanism. As its name indicates, V2SOM aims at making physical human–robot interaction safe, thanks to its two basic functioning modes—high stiffness mode and low stiffness mode. The first mode is employed for normal operational routines. In contrast, the low stiffness mode is suitable for the safe absorption of any potential blunt shock with a human. The transition between the two modes is continuous to maintain a good control of the V2SOM-based cobot in the case of a fast collision. V2SOM presents a high inertia decoupling capacity which is a necessary condition for safe pHRI without compromising the robot’s dynamic performances. Two safety criteria of pHRI were considered for performance evaluations, namely, the impact force (ImpF) criterion and the head injury criterion (HIC) for, respectively, the external and internal damage evaluation during blunt shocks. View Full-Text
Keywords: cobot; V2SOM; safety mechanism; safe physical human–robot interaction; pHRI; variable stiffness actuator; VSA; collaborative robots cobot; V2SOM; safety mechanism; safe physical human–robot interaction; pHRI; variable stiffness actuator; VSA; collaborative robots
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).
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Ayoubi, Y.; Laribi, M.A.; Zeghloul, S.; Arsicault, M. V2SOM: A Novel Safety Mechanism Dedicated to a Cobot’s Rotary Joints. Robotics 2019, 8, 18.

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