Готові списки джерел за темами / Intrinsically safe robot

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Добірка наукової літератури з теми "Intrinsically safe robot"

Автор: Grafiati

Опубліковано: 7 вересня 2022

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Статті в журналах з теми "Intrinsically safe robot"

Kasprzyczak, Leszek, Stanisław Trenczek, and Maciej Cader. "Pneumatic Robot for Monitoring Hazardous Environments of Coal Mines." Solid State Phenomena 198 (March 2013): 120–25. http://dx.doi.org/10.4028/www.scientific.net/ssp.198.120.

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The GMRI robot is capable of inspecting hazardous zones of methane and/or coal dust explosion in hard coal mines. The robot enables remote measurements of the concentrations of methane, carbon monoxide, carbon dioxide, oxygen, temperature, and humidity. Cameras enable the robot to observe the state of the excavation. All electronic circuits of the robot, for measurements, control, transmission, and supply, are intrinsically safe. The transmission of data and control commands from/to the operators console are performed via an electric wire. Moreover, the wire enables to transmit intrinsically safe electric energy and is used to charge one of the accumulators. Thanks to that, the robot can operate in an isolated excavation for 3 months. An intrinsically safe pneumatic drive has been applied for setting wheels in motion. The non-commercial robot prototype was tested in a real excavation in an active hard coal mine. The technical solutions have been presented in the paper.

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Ayoubi, Younsse, Med Laribi, Said Zeghloul, and Marc Arsicault. "V2SOM: A Novel Safety Mechanism Dedicated to a Cobot’s Rotary Joints." Robotics 8, no. 1 (March 6, 2019): 18. http://dx.doi.org/10.3390/robotics8010018.

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Unlike “classical” industrial robots, collaborative robots, known as cobots, implement a compliant behavior. Cobots ensure a safe force control in a physical interaction scenario within unknown environments. In this paper, we propose to make serial robots intrinsically compliant to guarantee safe physical human–robot interaction (pHRI), via our novel designed device called V2SOM, which stands for Variable Stiffness Safety-Oriented Mechanism. As its name indicates, V2SOM aims at making physical human–robot interaction safe, thanks to its two basic functioning modes—high stiffness mode and low stiffness mode. The first mode is employed for normal operational routines. In contrast, the low stiffness mode is suitable for the safe absorption of any potential blunt shock with a human. The transition between the two modes is continuous to maintain a good control of the V2SOM-based cobot in the case of a fast collision. V2SOM presents a high inertia decoupling capacity which is a necessary condition for safe pHRI without compromising the robot’s dynamic performances. Two safety criteria of pHRI were considered for performance evaluations, namely, the impact force (ImpF) criterion and the head injury criterion (HIC) for, respectively, the external and internal damage evaluation during blunt shocks.

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Vermeulen, Mathijs, and Martijn Wisse. "Intrinsically Safe Robot Arm: Adjustable Static Balancing and Low Power Actuation." International Journal of Social Robotics 2, no. 3 (March 20, 2010): 275–88. http://dx.doi.org/10.1007/s12369-010-0048-9.

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Ayoubi, Younsse, Med Amine Laribi, Marc Arsicault, and Saïd Zeghloul. "Safe pHRI via the Variable Stiffness Safety-Oriented Mechanism (V2SOM): Simulation and Experimental Validations." Applied Sciences 10, no. 11 (May 30, 2020): 3810. http://dx.doi.org/10.3390/app10113810.

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Robots are gaining a foothold day-by-day in different areas of people’s lives. Collaborative robots (cobots) need to display human-like dynamic performance. Thus, the question of safety during physical human–robot interaction (pHRI) arises. Herein, we propose making serial cobots intrinsically compliant to guarantee safe pHRI via our novel designed device, V2SOM (variable stiffness safety-oriented mechanism). Integrating this new device at each rotary joint of the serial cobot ensures a safe pHRI and reduces the drawbacks of making robots compliant. Thanks to its two continuously linked functional modes—high and low stiffness—V2SOM presents a high inertia decoupling capacity, which is a necessary condition for safe pHRI. The high stiffness mode eases the control without disturbing the safety aspect. Once a human–robot (HR) collision occurs, a spontaneous and smooth shift to low stiffness mode is passively triggered to safely absorb the impact. To highlight V2SOM’s effect in safety terms, we consider two complementary safety criteria: impact force (ImpF) criterion and head injury criterion (HIC) for external and internal damage evaluation of blunt shocks, respectively. A pre-established HR collision model is built in Matlab/Simulink (v2018, MathWorks, France) in order to evaluate the latter criterion. This paper presents the first V2SOM prototype, with quasi-static and dynamic experimental evaluations.

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Meng, Fan Jun, Li Hong Liu, Li Guo Lai, Fei He, Yun He Zhang, Yi He, and Hui Jun Chao. "Intrinsically Safe for Continuous Automated Production Safety Technology of Unitary Detonating Powder." Applied Mechanics and Materials 496-500 (January 2014): 1568–73. http://dx.doi.org/10.4028/www.scientific.net/amm.496-500.1568.

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Production of unitary detonating powder is great danger, to protect the operation of the safety of workers, reducing labor intensity, no one is reaching a dangerous place to operate, this paper used IPC, PLC, field bus technology, industrial television monitoring, fault diagnosis techniques for successful implementation of unitary detonating powder continuous automated production safety. This paper discussed the key technological breakthrough situation such as continuous automated production safety technology of unitary detonating powder, security technology, precise control of many parameters of the batching technology, compounded many-parameter control technology, on-line automatic screening, weighing, cartoning technology, explosion-proof robot automatic transmission technology, the following explosion and explosion-proof technology, and intrinsically safe technology. This paper realized production process of unitary detonating powder automation total volume of feed, multi-parameter control compound, pressure washing, online drying, automatic cartoning screening measurement and liquid, automatic transmission solid logistics. This paper developed the production line applied to unitary detonating powder production as a basic intrinsically safe for continuous automated production safety technology, implemented human isolation, hazardous processes unmanned operation, minimized the accident rate, greatly and improved production consistency and product quality. Production lines have been long-term security, stability reliably applied to military production, improved the technological level of our industry, and have had enormous economic, social and military effectiveness Key words: continuous automated production safety, parameter control, intrinsically safe for negative pressure vacuum pumping technology, stirring up tilt compounded material technology; negative pressure online drying technology

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Liu, Cheng, Wen Song, Li Wang, and Chun Rong Xue. "Remote Control and Communication System for Rescue and Detection Robot with Intrinsic Safety in Coal Mine." Applied Mechanics and Materials 687-691 (November 2014): 755–60. http://dx.doi.org/10.4028/www.scientific.net/amm.687-691.755.

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The technologies of wireless mesh network are adopted and a new remote control and communication system for intrinsically safe robot is proposed, which is helpful for rescue and detection in coal mine, not only achieves real-time monitoring of CO, CO2, CH4, O2 and temperature under assumed disaster area, selecting obstacle crossing modes for robot body, remotely sensing the states of motion and walking distance, remotely controlling gas detection and sampling device, monitoring environmental noise/video and other interactive functions. This paper focused on the principle of its architecture, software implementation ways of remote control system and analysis of its data flow. The system has the advantages of superior range for wireless controlling and more visual data than other similar systems, which is verified by experiments and has practical value.

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Ascari, L., C. Stefanini, U. Bertocchi, and P. Dario. "Robot-assisted endoscopic exploration of the spinal cord." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 224, no. 7 (May 14, 2010): 1515–29. http://dx.doi.org/10.1243/09544062jmes2017.

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This work presents the design and development of an integrated image-guided robot-assisted endoscopic system for the safe navigation within the spinal subarachnoid space, providing the surgeon with the direct vision of the structures (i.e. spinal cord, roots, vessels) and the possibility of performing some particularly useful operations, like local electrostimulation of nerve roots. The modelling, micro-fabrication, fluidic sustentation, and cable-based actuation system of a steerable tip for a multilumen flexible catheter is described; the hierarchical control system shared between the surgeon and the computer, and based on machine vision techniques and a simple but effective three-dimensional reconstruction is detailed. The Blind Expected Perception sensory-motor scheme is proposed in robot-assited endoscopy. Results from in vitro, ex vivo, and in vivo experiments show that the described model can accurately predict the shape of the catheter given the tension distribution on the cables, that the proposed actuation system can assure smooth and precise control of the catheter tip, that the fluidic sustentation of the catheter is essential in in vivo navigation, and that the proposed rear view mirror interface to show non-visible obstacles is appropriate; in conclusion, the results proved the validity of the proposed solution to develop an intrinsically safe robotic system for navigation and intervention in a narrow and challenging environment such as the spinal subarachnoid space.

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Castelli, Gianni, and Erika Ottaviano. "Modelling, Simulation and Testing of a Reconfigurable Cable-Based Parallel Manipulator as Motion Aiding System." Applied Bionics and Biomechanics 7, no. 4 (2010): 253–68. http://dx.doi.org/10.1155/2010/548197.

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This paper presents results on the modelling, simulation and experimental tests of a cable-based parallel manipulator to be used as an aiding or guiding system for people with motion disabilities. There is a high level of motivation for people with a motion disability or the elderly to perform basic daily-living activities independently. Therefore, it is of great interest to design and implement safe and reliable motion assisting and guiding devices that are able to help end-users. In general, a robot for a medical application should be able to interact with a patient in safety conditions, i.e. it must not damage people or surroundings; it must be designed to guarantee high accuracy and low acceleration during the operation. Furthermore, it should not be too bulky and it should exert limited wrenches after close interaction with people. It can be advisable to have a portable system which can be easily brought into and assembled in a hospital or a domestic environment. Cable-based robotic structures can fulfil those requirements because of their main characteristics that make them light and intrinsically safe. In this paper, a reconfigurable four-cable-based parallel manipulator has been proposed as a motion assisting and guiding device to help people to accomplish a number of tasks, such as an aiding or guiding system to move the upper and lower limbs or the whole body. Modelling and simulation are presented in the ADAMS environment. Moreover, experimental tests are reported as based on an available laboratory prototype.

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Poignet, Philippe, Etienne Dombre, Olivier Merigeaux, François Pierrot, and Gilles Duchemin. "Design and control issues for intrinsically safe medical robots." Industrial Robot: An International Journal 30, no. 1 (February 2003): 83–88. http://dx.doi.org/10.1108/01439910310457751.

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TAKAKURA, Ryudai, Hiroyuki NABAE, Gen ENDO, Yoshiharu HIROTA, Toru IDE, Junichiro OOGA, Hideichi NAKAMOTO, and Koichi SUZUMORI. "Intrinsically Safe Hydraulic Servo Motor for Collaborative Robots Handling Heavy Materials." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2021 (2021): 2P2—C06. http://dx.doi.org/10.1299/jsmermd.2021.2p2-c06.

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Дисертації з теми "Intrinsically safe robot"

Jeanneau, Guillaume. "Analyse et conception d'un robot parallèle sous-actionné intrinsèquement sûr." Thesis, Ecole centrale de Nantes, 2022. http://www.theses.fr/2022ECDN0018.

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Cette thèse introduit le robot R-Min, un concept de robot parallèle sous-actionné conçu pour réduire les efforts dus à un impact avec une personne. L’architecture est basée sur celle du mécanisme à cinq barres sur lequel des liaisons pivots sont ajoutées sur les avant-bras. Les modèles géométrico-statique et cinémato-statique sont déduits des conditions énergétiques nécessaires à l’équilibre du robot. Une étude discrète des solutions à ces modèles permet d’obtenir l’espace de travail du robot et le lieu de ces singularités. L’étude se concentre alors sur l’analyse de la sécurité. Un modèle réduit masse-ressort-masse, prenant en compte une raideur dynamiquement cohérente, est défini permettant d’obtenir une simplification du modèle dynamique au moment de l’impact et ainsi donne une nouvelle manière de caractériser la sécurité des robots souples. Une analyse expérimentale du robot R-Min permet en premier lieu de valider la faisabilité de modéliser et de contrôler ce type de structure tout en réduisant ses oscillations. Ensuite, l’effet sur la sécurité du sousactionnement, de la raideur, des vitesses, de l’objet impacté, est évalué lors d’un impact entre le robot R-Min et un dispositif de mesure dédié. Les résultats sont renforcés en simulation et permettent de conclure qu’une structure parallèle souple est une nouvelle solution permettant l’amélioration de la sécurité des robots de manière intrinsèque
This thesis introduces the R-Min robot, a concept of an underactuated parallel robot designed to reduce the efforts due to an impact with a person. The architecture is based on the five-bar mechanism on which revolute joints are added on the forearms. The geometrico-static and kinemato-static models are deduced from the robot energetic condition necessary for robot equilibrium. A discrete study of the solutions to these models allows to obtain the workspace of the robot and the locus of its singularities. The study then focuses on the safety analysis. A reduced massspring-mass model, taking into account a dynamically consistent stiffness, is defined allowing to obtain a simplification of the dynamic model at the time of the impact and thus gives a new way to characterize the safety of compliant robots. An experimental analysis of the RMin robot allows first to validate the feasibility of modeling and controlling this type of structure while reducing its oscillations. Then the respective effect on the safety of the underactuation, of the stiffness, of the velocities and of the impacted object is evaluated for the impact of the R-Min robot with a dedicated measurement device. Results are reinforced in simulation and leads to the conclusion that an underactuated parallel structure permits safety improvement of intrinsically safe robots

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Частини книг з теми "Intrinsically safe robot"

Lim, Wen Bin, Guilin Yang, Song Huat Yeo, and Shabbir Kurbanhusen Mustafa. "Modular Cable-Driven Robotic Arms for Intrinsically Safe Manipulation." In Service Robots and Robotics, 274–94. IGI Global, 2012. http://dx.doi.org/10.4018/978-1-4666-0291-5.ch015.

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A Cable-Driven Robotic Arm (CDRA) possesses a number of advantages over the conventional articulated robotic arms, such as lightweight mechanical structure, high payload, fault tolerance, and most importantly, safe manipulation in the human environment. As such, a mobile manipulator that consists of a mobile base and a CDRA can be a promising assistive robot for the aging or disabled people to perform necessary tasks in their daily life. For such applications, a CDRA is a dexterous manipulator that consists of a number of cable-driven joint modules. In this chapter, a modular design concept is employed in order to simplify design, analysis, and control of CDRA to a manageable level. In particular, a 2-DOF cable-driven joint module is proposed as the basic building block of a CDRA. The critical design analysis issues pertaining to the kinematics analysis, tension analysis, and workspace-based design optimization of the 2-DOF cable-driven joint module are discussed. As a modular CDRA can be constructed into various configurations, a configuration-independent kinematic modeling approach based on the Product-of-Exponentials (POE) formula is proposed. The effectiveness of the proposed design analysis algorithms are demonstrated through simulation examples.

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Hannaford, Blake, and Steven Venema. "Kinesthetic Displays for Remote and Virtual Environments." In Virtual Environments and Advanced Interface Design. Oxford University Press, 1995. http://dx.doi.org/10.1093/oso/9780195075557.003.0020.

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Humans perceive their surrounding environment through five sensory channels, popularly labeled “sight,” “sound,” “taste,” “smell,” and “touch.” All of these modalities are fused together in our brains into an apparently seamless perception of our world. While we typically place the most importance on our visual sense, it is our sense of touch which provides us with much of the information necessary to modify and manipulate the world around us. This sense can be divided into two categories: the kinesthetic sense, through which we sense movement or force in muscles and joints; and the tactile sense, through which we sense shapes and textures. This chapter will focus on the use of kinesthetic sense in realistic teleoperation and virtual environment simulations. Artificial kinesthetic feedback techniques were first developed in the field of teleoperation—robot manipulators remotely controlled by human operators. In teleoperation, the perceptions from a physically remote environment must be conveyed to the human operator in a realistic manner. This differs from virtual reality in which the perceptions from a simulated environment are conveyed to the user. Thus, teleoperation and virtual environments communities share many of the same user interface issues but in teleoperation the need for detailed world modeling is less central. The earliest remote manipulation systems were operated by direct mechanical linkages and the operator viewed the workspace directly through windows (Goertz, 1964). Perhaps because of their relative simplicity and high performance, little was learned about sensory requirements for remote manipulation from these early devices. When remote manipulation was developed for long distances and mobile platforms, electronic links became mandatory. The earliest attempts drove the remote manipulator with a position signal only and no information was returned to the operator about contact force. In the original mechanical designs, force information was intrinsically available because the linkages (actually metal tape and pulley transmissions) were relatively stiff, low-mass, connections between the operator and the environment. With the shift to electronic links, the loss of kinesthetic information was immediately apparent to the operators. The first artificial kinesthetic displays arose to provide improved functionality for remote manipulators.

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Тези доповідей конференцій з теми "Intrinsically safe robot"

Shafer, Alex S., and Mehrdad R. Kermani. "Development of high performance intrinsically safe 3-DOF robot." In 2014 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2014. http://dx.doi.org/10.1109/icra.2014.6906919.

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Wyrobek, Keenan A., Eric H. Berger, H. F. Machiel Van der Loos, and J. Kenneth Salisbury. "Towards a personal robotics development platform: Rationale and design of an intrinsically safe personal robot." In 2008 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2008. http://dx.doi.org/10.1109/robot.2008.4543527.

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Esteveny, Laure, Laurent Barbé, and Bernard Bayle. "A New Indirect Actuation Principle for Safe Physical Human-Robot Interactions." In ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2013. http://dx.doi.org/10.1115/detc2013-12948.

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Intrinsically safe mechanisms represent an innovative solution to develop physical human-robot interactions. These systems are characterized by low masses, inertia and torques. In this paper, an innovative actuation strategy is presented, focused on safety concerns. The system is first statically balanced to compensate gravity forces in any configuration. Our contribution then lies in the design of a mechanism that modifies the system balancing, making it possible to follow a planned trajectory or to remain in contact with a moving environment, without developing large forces. This principle is illustrated with an elementary one degree of freedom arm. The whole design procedure is described, so as to define properly the arm parameters for a given task. A closed loop position control strategy is then proposed in order to drive the mechanism. It uses a proportional-derivative controller with configuration dependent gains, whose efficiency is illustrated by trajectory following and interaction simulations.

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Jeanneau, Guillaume, Vincent Bégoc, and Sébastien Briot. "Geometrico-Static Analysis of a New Collaborative Parallel Robot for Safe Physical Interaction." In ASME 2020 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2020. http://dx.doi.org/10.1115/detc2020-22330.

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Abstract This paper introduces a geometrico-static analysis of an intrinsically safe parallel manipulator called R-Min. This robot was designed to reduce the risk of injury during a collision with a human operator, thanks to an underactuated architecture which enables large internal displacements in case of a collision. Indeed, the R-Min architecture is based on a modification of the well-known planar five-bar mechanism, where additional passive joints are introduced on the distal links in order to create a planar seven-bar mechanism with two degrees of underactuation. These two additional degrees of freedom are passively driven through the use of a supplementary passive leg, in which a tension spring is mounted between the base and the end-effector. In this paper, the conditions satisfying the equilibrium and the stability of the mechanism are introduced, based on a geometrico-static analysis. The direct and inverse problems are then solved using a numerical approach. Solutions to both problems are presented and classified. One subset of solutions to the inverse problem is isolated and projected in the Cartesian space in order to obtain the payload-invariant workspace of the R-Min robot.

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Wannasuphoprasit, Witaya, and Supaphon Chanphat. "T-Cobot: Transformable Collaborative Robot." In ASME 2005 International Mechanical Engineering Congress and Exposition. ASMEDC, 2005. http://dx.doi.org/10.1115/imece2005-82027.

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Recently, the emerging research between human and robotic device has been adapted to many applications. Collaborative Robot or Cobot is one of promising candidates because it is inherently passive and intrinsically safe. Cobot’s joints are coupled together by CVTs (continuous variable transmissions). The cobot’s endpoint direction can be controlled by adjusting transmission ratios of these CVTs. Former cobots developed in recent years have constant joint-to-joint distances. Some will be reviewed. In this paper, we propose a novel transformable cobot called T-Cobot which has ability to expand the joint distances. We describe the design and construction of the T-Cobot Prototype. In addition, the kinematics of the T Cobot is proposed.

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Comber, David B., Jonathon E. Slightam, Eric J. Barth, Vito R. Gervasi, and Robert J. Webster. "Design and Precision Control of an MR-Compatible Flexible Fluidic Actuator." In ASME/BATH 2013 Symposium on Fluid Power and Motion Control. American Society of Mechanical Engineers, 2013. http://dx.doi.org/10.1115/fpmc2013-4481.

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Magnetic resonance imaging (MRI) offers many benefits to image-guided interventions, including excellent soft tissue distinction, little to no repositioning of the patient, and zero radiation exposure. The closed, narrow bore of a high field MRI scanner limits clinician access to the patient, such that an MR-compatible robot is essentially required for many potential interventions. A robotic system of this kind could additionally provide the clinician increased accuracy and more degrees of freedom within the minimally invasive context. Fluid power is an excellent type of actuation to use inside the MRI scanner, as such actuators can be designed free of magnetic and electrical components. However, there are no fluid power actuators readily available that are suitable for use in the operating room. This paper reports a compact, intrinsically safe, sterilizable fluid power actuator. Using additive manufacturing processes, the actuator was printed in a single build. Thus, it is composed of several integrated parts in a compact design. Employing an inchworm-like behavior, the linear actuator can advance or retract a needle or mechanism rod in discrete steps; thus the device is intrinsically safe. The actuator is fluid agnostic, but a pneumatic prototype is presented here with initial testing results. For the pneumatic case, sub-step positioning control has been tested using a nonlinear, model-based controller, and the mean steady-state error was 0.025 mm. Thus this type of actuator appears to be promising solution for use in MRI-guided interventions.

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Ma, Ou, Qi Lu, Jesse McAvoy, and Ken Ruble. "Concept Study of a Passive Reduced-Gravity Simulator for Training Astronauts." In ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2010. http://dx.doi.org/10.1115/detc2010-29079.

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Each manned space exploration mission requires a significant amount of microgravity or reduced-gravity (physical) simulation before the mission to train astronauts and verify some mission requirements. An appealing new simulation technique for such an application must be effective, safe, and inexpensive. This paper presents a novel design concept of a reduced-gravity simulator for simulating human walking in a controllable reduced-gravity condition. Designed based on the spring-based passive gravity-balancing technology, the 3D passive reduced-gravity simulator has sufficient mobility to allow the attached human to walk while feeling less gravity effects. The system is completely passive and thus, it is intrinsically stable, safe and cost effective. A concept study of the new mechanism using multibody dynamics simulations including a full-scale human dynamics model has demonstrated the effectiveness of the device for offloading any desired amount of gravity force. A scaled-down nonhuman experimental test using a walking robot and a passive jump device is currently underway.

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O'Neill, Gerald, Harshil Patel, and Panagiotis Artemiadis. "An intrinsically safe mechanism for physically coupling humans with robots." In 2013 IEEE 13th International Conference on Rehabilitation Robotics (ICORR 2013). IEEE, 2013. http://dx.doi.org/10.1109/icorr.2013.6650510.

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