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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

赵京, 张自强, 郑强, 等 . 机器人安全性研究现状及发展趋势[J]. 北京航空航天大学学报, 2018, 44(7): 1347-1358. doi: 10.13700/j.bh.1001-5965.2017.0568
引用本文: 赵京, 张自强, 郑强, 等 . 机器人安全性研究现状及发展趋势[J]. 北京航空航天大学学报, 2018, 44(7): 1347-1358. doi: 10.13700/j.bh.1001-5965.2017.0568
ZHAO Jing, ZHANG Ziqiang, ZHENG Qiang, et al. Research status and development trend of robot safety[J]. Journal of Beijing University of Aeronautics and Astronautics, 2018, 44(7): 1347-1358. doi: 10.13700/j.bh.1001-5965.2017.0568(in Chinese)
Citation: ZHAO Jing, ZHANG Ziqiang, ZHENG Qiang, et al. Research status and development trend of robot safety[J]. Journal of Beijing University of Aeronautics and Astronautics, 2018, 44(7): 1347-1358. doi: 10.13700/j.bh.1001-5965.2017.0568(in Chinese)

机器人安全性研究现状及发展趋势

doi: 10.13700/j.bh.1001-5965.2017.0568
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

Research status and development trend of robot safety

Funds: 

National Natural Science Foundation of China 51475016

More Information
  • 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。

     

  • 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]

    图 2  关节模块整体结构[25]

    Figure 2.  Overall structure of joint module[25]

    图 3  人-工业机器人交互环境[35]

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

    图 4  机械臂避障实验运动过程

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

    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

    图 6  机器人避障轨迹

    Figure 6.  Obstacle avoidance trajectory of robot

    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

    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

    图 9  手功能软体康复机器人

    Figure 9.  Hand soft rehabilitation robot

    图 10  康复手套

    Figure 10.  Rehabilitation gloves

    图 11  变刚度机器人关节

    Figure 11.  Variable stiffness robot joint

    图 12  人-机安全交互过程

    Figure 12.  Human-robot safe interaction process

    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]

    图 14  变刚度驱动器[90]

    Figure 14.  Variable stiffness actuator[90]

    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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  • 收稿日期:  2017-09-11
  • 录用日期:  2017-10-13
  • 刊出日期:  2018-07-20

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