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Yu She Ph.D. Dissertation.pdf (11.3 MB)

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Compliant robotic arms for inherently safe physical human-robot interaction

She, Yu
http://rave.ohiolink.edu/etdc/view?acc_num=osu1541335591178684

Abstract Details

2018, Doctor of Philosophy, Ohio State University, Mechanical Engineering.
In recent years, an increasing interest from researchers has been drawn to collaborative robots, which are intentionally designed for physical interaction with human beings and bring safety concerns to prominent issues. Intentionally introducing compliance to the mechanical structure can increase safety when an impact occurs during a physical Human-Robot Interaction (pHRI). Mechanical compliance of a robot manipulator can be from a compliant joint (CJ) or compliant link (CL), while the former has been widely studied, the latter is much less explored for safe pHRI. This study compares the CJ and CL design in terms of the safety of pHRI, and concludes the CL design could generate a lighter injury than that of the CJ design given the same parameters. In addition, it is found that the CL design has better control and dynamic performance quantified by a larger natural frequency and a larger bandwidth comparing with those of the CJ design. Therefore, this work will focus on the CL design for safe pHRI. A shape optimization framework is developed to design a CL with variable stiffness for safe pHRI. The proposed variable width link takes full advantage of the link rigidity while keeps inherent safety during pHRI. In addition, a shape morphing approach is developed to design a CL with tunable stiffness for safe pHRI. The proposed robotic links are relatively stiffness at slow motions of the robot for maximum performance and highly compliant at rapid motions for maximum safety. Static and dynamic models of the CLs are derived and verified by finite element analysis (FEA). To achieve a high efficiency and accuracy of the dynamic model, a mass-parameter optimization framework is developed for the pseudo-rigid-body (PRB) model. The proposed optimized PRB model can rapidly and precisely predict statics, kinematics, and dynamics for compliant mechanisms. A pHRI platform is then studied from the perspective of both theoretical model and experimental setup. The model provides general guidelines for selecting design parameters for the pHRI platform to achieve desired requirements, and the experimental platform validates the model and demonstrates that the CL design can increase safety for pHRI. This study explores the CL design with variable stiffness for safe pHRI, and expands the research arena with respect to human-safe robot design. The proposed CL designs hold the advantages of larger bandwidth and fewer injury consequences than those of the CJ designs. The developed dynamic model (optimized PRB model) of the CL design has great advantages on economic calculation. The grandly shortened computation of the dynamics model is beneficial for real-time control. The whole pHRI model can be used for evaluations of selected design parameters and provides guidance to customize designs for critical requirements.
Hai-Jun Su (Committee Member)
Junmin Wang (Committee Member)
Manoj Srinivasan (Committee Member)
155 p.
Design; Mechanical Engineering; Robotics
Physical human-robot interaction, Variable stiffness link, Compliant joint, Compliant link, Mechanism design, Pseudo-Rigid body model, Static modeling, Dynamic modeling

Recommended Citations

Citations

  • She, Y. (2018). Compliant robotic arms for inherently safe physical human-robot interaction [Doctoral dissertation, Ohio State University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=osu1541335591178684

    APA Style (7th edition)

  • She, Yu. Compliant robotic arms for inherently safe physical human-robot interaction. 2018. Ohio State University, Doctoral dissertation. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=osu1541335591178684.

    MLA Style (8th edition)

  • She, Yu. "Compliant robotic arms for inherently safe physical human-robot interaction." Doctoral dissertation, Ohio State University, 2018. http://rave.ohiolink.edu/etdc/view?acc_num=osu1541335591178684

    Chicago Manual of Style (17th edition)

osu1541335591178684
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© 2018, all rights reserved.
This open access ETD is published by The Ohio State University and OhioLINK.