柔軟構造で環境側にコンプライアンスを持たせる高速ロボット接触作業
Flexure-based Environmental Compliance for High-speed Robotic Contact Tasks
ロボット側ではなく環境側にフレクシャと粘弾性材料で柔軟構造を組み込み、高剛性ロボットの高速・高精度を保ちながら安全な接触を実現する手法を提案し、RCCデバイス等を試作して高速組立作業で検証した。
著者: Richard Hartisch, Kevin Haninger
分類: cs.RO
原文アブストラクト
The design of physical compliance -- its location, degree, and structure -- affects robot performance and robustness in contact-rich tasks. While compliance is often used in the robot's joints, flange, or end-effector, this paper proposes compliant structures in the environment, allowing safe and robust contact while keeping the higher motion control bandwidth and precision of high impedance robots. Compliance is here realized with flexures and viscoelastic materials, which are integrated to several mechanisms to offer structured compliance, such as a remote center of compliance. Additive manufacturing with fused deposition modeling is used, allowing faster design iteration and low-cost integration with standard industrial equipment. Mechanical properties, including the total stiffness matrix, stiffness ratio, and rotational precision, are analytically determined and compared to experimental results. Three remote center of compliance (RCC) devices and a 1-DOF linear device are prototyped and tested in high-speed assembly tasks.
