A core issue in collaborative robotics is that of impact mitigation, especially when collisions happen with operators. Passively compliant structures can be used as the frame of the cobot, although, usually, they are implemented by means of a single-degree-of-freedom (DoF). However, n-DoF preloaded structures offer a number of advantages in terms of flexibility in designing their behavior. In this work, we propose a comprehensive framework for classifying n-DoF preloaded structures, including one-, two-, and three-dimensional arrays. Furthermore, we investigate the implications of the peculiar behavior of these structures—which present sharp stiff-to-compliant transitions at design-determined load thresholds—on impact mitigation. To this regard, an analytical n-DoF dynamic model was developed and numerically implemented. A prototype of a 10DoF structure was tested under static and impact loads, showing a very good agreement with the model. Future developments will see the application of n-DoF preloaded structures to impact-mitigation on cobots and in the field of mobile robots, as well as to the field of novel architected materials.
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October 2018
Research-Article
Development of n-DoF Preloaded Structures for Impact Mitigation in Cobots
S. Seriani,
S. Seriani
Department of Architecture and Engineering,
University of Trieste,
via A. Valerio 10,
Trieste 34127, Italy
e-mail: sseriani@units.it
University of Trieste,
via A. Valerio 10,
Trieste 34127, Italy
e-mail: sseriani@units.it
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P. Gallina,
P. Gallina
Department of Architecture and Engineering,
University of Trieste,
via A. Valerio 10,
Trieste 34127, Italy
e-mail: pgallina@units.it
University of Trieste,
via A. Valerio 10,
Trieste 34127, Italy
e-mail: pgallina@units.it
Search for other works by this author on:
L. Scalera,
L. Scalera
Polytechnic Department of Engineering
and Architecture,
University of Udine,
Udine 33100, Italy
e-mail: scalera.lorenzo@spes.uniud.it
and Architecture,
University of Udine,
via delle Scienze 206
,Udine 33100, Italy
e-mail: scalera.lorenzo@spes.uniud.it
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V. Lughi
V. Lughi
Department of Architecture and Engineering,
University of Trieste,
Trieste 34127, Italy
e-mail: vlughi@units.it
University of Trieste,
via A. Valerio 10
,Trieste 34127, Italy
e-mail: vlughi@units.it
Search for other works by this author on:
S. Seriani
Department of Architecture and Engineering,
University of Trieste,
via A. Valerio 10,
Trieste 34127, Italy
e-mail: sseriani@units.it
University of Trieste,
via A. Valerio 10,
Trieste 34127, Italy
e-mail: sseriani@units.it
P. Gallina
Department of Architecture and Engineering,
University of Trieste,
via A. Valerio 10,
Trieste 34127, Italy
e-mail: pgallina@units.it
University of Trieste,
via A. Valerio 10,
Trieste 34127, Italy
e-mail: pgallina@units.it
L. Scalera
Polytechnic Department of Engineering
and Architecture,
University of Udine,
Udine 33100, Italy
e-mail: scalera.lorenzo@spes.uniud.it
and Architecture,
University of Udine,
via delle Scienze 206
,Udine 33100, Italy
e-mail: scalera.lorenzo@spes.uniud.it
V. Lughi
Department of Architecture and Engineering,
University of Trieste,
Trieste 34127, Italy
e-mail: vlughi@units.it
University of Trieste,
via A. Valerio 10
,Trieste 34127, Italy
e-mail: vlughi@units.it
1Corresponding author.
Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received November 24, 2017; final manuscript received May 31, 2018; published online July 18, 2018. Assoc. Editor: Raffaele Di Gregorio.
J. Mechanisms Robotics. Oct 2018, 10(5): 051009 (10 pages)
Published Online: July 18, 2018
Article history
Received:
November 24, 2017
Revised:
May 31, 2018
Citation
Seriani, S., Gallina, P., Scalera, L., and Lughi, V. (July 18, 2018). "Development of n-DoF Preloaded Structures for Impact Mitigation in Cobots." ASME. J. Mechanisms Robotics. October 2018; 10(5): 051009. https://doi.org/10.1115/1.4040632
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