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.
Development of n-DoF Preloaded Structures for Impact Mitigation in Cobots
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.
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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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