机器人安全性研究现状及发展趋势

赵京; 张自强; 郑强; 陈殿生; 桂顺

doi:10.13700/j.bh.1001-5965.2017.0568

机器人安全性研究现状及发展趋势

doi: 10.13700/j.bh.1001-5965.2017.0568

赵京¹,
张自强^1, ,,
郑强¹,
陈殿生²,
桂顺²

1.
北京工业大学机械工程与应用电子技术学院, 北京 100124
2.
北京航空航天大学机械工程及自动化学院, 北京 100083

基金项目:

国家自然科学基金 51475016

详细信息

作者简介:
赵京男, 博士, 教授, 博士生导师。主要研究方向：机器人运动学及动力学

张自强男，博士。主要研究方向：仿生机器人技术

通讯作者:
张自强.E-mail:zzq06520011@163.com

中图分类号: TP242
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- 文章访问数: 1500
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- PDF下载量: 1062
- 被引次数: 0
出版历程
- 收稿日期: 2017-09-11
- 录用日期: 2017-10-13
- 网络出版日期: 2018-07-20

Research status and development trend of robot safety

1.
College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing 100124, China
2.
School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

Funds:

National Natural Science Foundation of China 51475016

More Information

Corresponding author: ZHANG Ziqiang, E-mail:zzq06520011@163.com

摘要

摘要:
随着机器人逐渐应用于生产生活的各个领域，安全性也成为了机器人研究的重要方向之一。根据安全性研究目标对象的不同，分别从机器人自身安全性和交互安全性两方面概述了国内外研究现状，分析了机械结构与控制算法对提高机器人安全性所起到的作用。在此基础上，分析了目前研究还存在结构设计过于传统、对突发情况判断能力较弱、复杂条件下控制柔顺性不足等问题，限制了机器人的推广应用。指出了机器人安全性的研究正向着刚柔混合一体化机构、准确快速的环境判断、良好的柔顺控制的方向发展。
- 机器人安全性 /
- 自身安全性 /
- 交互安全性 /
- 结构设计 /
- 柔顺控制
Abstract:
With the robot gradually used in many fields of production and life, safety has become one of the important research directions of robot. According to different research objects for robot safety, research status of robot safety at home and abroad is expounded from two parts, namely self-safety and interaction safety. The role of mechanical structure design and control algorithms in improving robot safety is analyzed. On this basis, the existing problems, such as too traditional structure design method, weak judgment of unexpected situation and lack of control compliance under complicated conditions, are analyzed, which limit the popularization and application of robots. The development trend of robot safety, such as rigid flexible hybrid mechanism, accurate and fast environment judgment and good compliance control, is proposed.
- robot safety /
- self-safety /
- interaction safety /
- structure design /
- compliance control

HTML全文

图 1 具有弹簧离合器和重力补偿装置的机械臂结构^[24]

Figure 1. Structure of mechanical arm with spring clutches and gravity compensator^[24]

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图 2 关节模块整体结构^[25]

Figure 2. Overall structure of joint module^[25]

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图 3 人-工业机器人交互环境^[35]

Figure 3. Human-industrial robot interactive environment^[35]

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图 4 机械臂避障实验运动过程

Figure 4. Motion process of obstacle avoidance test of mechanical arm

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图 5 移动机器人路径规划的仿真结果

Figure 5. Simulation results of mobile robot path planning

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图 6 机器人避障轨迹

Figure 6. Obstacle avoidance trajectory of robot

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图 7 具有被动关节的肩关节康复机器人

Figure 7. Shoulder joint rehabilitation robot with passive joints

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图 8 基于安全性的上肢外骨骼机构设计

Figure 8. Mechanism design of upper-limb exoskeleton based on safety

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图 9 手功能软体康复机器人

Figure 9. Hand soft rehabilitation robot

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图 10 康复手套

Figure 10. Rehabilitation gloves

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图 11 变刚度机器人关节

Figure 11. Variable stiffness robot joint

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图 12 人-机安全交互过程

Figure 12. Human-robot safe interaction process

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图 13 用于膝关节辅助运动的紧凑型串联弹性驱动器^[89]

Figure 13. Compact series elastic actuator designed for assisting knee joint motion^[89]

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图 14 变刚度驱动器^[90]

Figure 14. Variable stiffness actuator^[90]

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图 15 具有4个板簧的变刚度机器人关节

Figure 15. Variable stiffness robot joint with four leaf springs

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