Passive collision force suppression mechanism for robot manipulator

Abstract

This paper presents a robot manipulator with collision force suppression mechanism that can passively suppress collision force. The collision suppression mechanism consists of a release air pad, a transmission rack, a clutch gear and a compression spring. An air cushion bag is attached to the exterior of the robot manipulator. If a robot manipulator collides with an object or human when a task is performed, the collision force suppression mechanism disjoints the specific joint corresponding to the direction of the collision force to reduce the collision force. The robot manipulator will then return to the former task when the colliding object is eliminated. Through collision experiments, the effectiveness of the collision force suppression mechanism is verified.