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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April 2017
Research-Article
Design and Static Analysis of Elastic Force and Torque Limiting Devices for Safe Physical Human–Robot Interaction
Meiying Zhang,
Meiying Zhang
Département de Génie Mécanique,
Université Laval,
Québec, QC G1V 0A6, Canada
e-mail: meiying.zhang.1@ulaval.ca
Université Laval,
Québec, QC G1V 0A6, Canada
e-mail: meiying.zhang.1@ulaval.ca
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Thierry Laliberté,
Thierry Laliberté
Département de Génie Mécanique,
Université Laval,
Québec, QC G1V 0A6, Canada
e-mail: thierry@gmc.ulaval.ca
Université Laval,
Québec, QC G1V 0A6, Canada
e-mail: thierry@gmc.ulaval.ca
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Clément Gosselin
Clément Gosselin
Département de Génie Mécanique,
Université Laval,
Québec, QC G1V 0A6, Canada
e-mail: gosselin@gmc.ulaval.ca
Université Laval,
Québec, QC G1V 0A6, Canada
e-mail: gosselin@gmc.ulaval.ca
Search for other works by this author on:
Meiying Zhang
Département de Génie Mécanique,
Université Laval,
Québec, QC G1V 0A6, Canada
e-mail: meiying.zhang.1@ulaval.ca
Université Laval,
Québec, QC G1V 0A6, Canada
e-mail: meiying.zhang.1@ulaval.ca
Thierry Laliberté
Département de Génie Mécanique,
Université Laval,
Québec, QC G1V 0A6, Canada
e-mail: thierry@gmc.ulaval.ca
Université Laval,
Québec, QC G1V 0A6, Canada
e-mail: thierry@gmc.ulaval.ca
Clément Gosselin
Département de Génie Mécanique,
Université Laval,
Québec, QC G1V 0A6, Canada
e-mail: gosselin@gmc.ulaval.ca
Université Laval,
Québec, QC G1V 0A6, Canada
e-mail: gosselin@gmc.ulaval.ca
Manuscript received October 3, 2016; final manuscript received December 20, 2016; published online March 9, 2017. Assoc. Editor: Venkat Krovi.
J. Mechanisms Robotics. Apr 2017, 9(2): 021003 (8 pages)
Published Online: March 9, 2017
Article history
Received:
October 3, 2016
Revised:
December 20, 2016
Citation
Zhang, M., Laliberté, T., and Gosselin, C. (March 9, 2017). "Design and Static Analysis of Elastic Force and Torque Limiting Devices for Safe Physical Human–Robot Interaction." ASME. J. Mechanisms Robotics. April 2017; 9(2): 021003. https://doi.org/10.1115/1.4035683
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