Development of a new Mechanic Safety Coupling for Human Robot Collaboration using Magnetorheological Fluids

Lämmle, Arik

doi:10.1016/j.procir.2019.03.226

Cited by 7 publications

(2 citation statements)

References 17 publications

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“…Lämmle evaluated the development of a mechanical safety coupling using MR fluids. This acts as an inherent safety joint substance, and it was shown that decoupling the effective mass of the robot significantly reduces the energy transmitted to the affected parts of the human body, thus causing less damage in case of a collision [37].…”

Section: Roboticsmentioning

confidence: 99%

Magnetorheological fluids: synthesis, properties and applications

Sánchez-Alonso¹,

Camporredondo-Saucedo²,

Castruita-Avila³

et al. 2020

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The magnetorheological fluids have the ability to modify their viscosity quickly by subjecting it to a magnetic field, a quality that classifies them in the category of intelligent materials. Such fluids include three main components; the base fluid that is generally mineral or synthetic oil, magnetizable particles which are dispersed in the base fluid and the additives or stabilizers that prevent agglomeration and sedimentation of the particles, as well as the degradation induced by the carrier medium. The main challenge of these fluids is to maintain the rheological response to the magnetic field, as well as avoid the chemical and microstructural instability of the magnetoreological fluids. In the present investigation an exhaustive bibliographic review was carried out to understand the main aspects of these types of materials, their properties as well as the main applications in the different branches of industry and medicine. The most recent contributions focused on the chemical stability of magnetic particles through the application of surface coatings are discussed.

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Section: Roboticsmentioning

confidence: 99%

Magnetorheological fluids: synthesis, properties and applications

Sánchez-Alonso¹,

Camporredondo-Saucedo²,

Castruita-Avila³

et al. 2020

Respuestas

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“…In Ref. [15], a novel mechanical coupling system with magnetorheological fluid was designed to decouple the masses of cobot and operational tools. In this way, the energy transfer was decreased when the collision occurs in human-robot collaboration.…”

Section: Introductionmentioning

confidence: 99%

Toward safe and high-performance human–robot collaboration via implementation of redundancy and understanding the effects of admittance term parameters

et al. 2021

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Summary Today, demandsin industrial manufacturing mandate humans to work with large-scale industrial robots, and this collaboration may result in dangerous conditions for humans. To deal with this situation, this work proposes a novel approach for redundant large-scale industrial robots. In the proposed approach, an admittance controller is designed to regulate the interaction between the end effector of the robot and the human. Additionally, an obstacle avoidance algorithm is implemented in the null space of the robot to prevent any possible unexpected collision between the human and the links of the robot. After safety performance of this approach is verified via simulations and experimental studies, the effect of the parameters of the admittance controller on the performance of collaboration in terms of both accuracy and total human effort is investigated. This investigation is carried out via 8 experiments by the participation of 10 test subjects in which the effect of different admittance controller parameters such as mass and damper are compared. As a result of this investigation, tuning insights for such parameters are revealed.

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