ロボットとの接触防止の為の安全センサの一構成法(G15-1 センシング・認識,G15 ロボティクス・メカトロニクス部門)

概要

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In the situation that man works in the work space of the robot, the possibility of the accident by the contact of the robot and man cannot be canceled no matter how it provides with the emergency, stop means of the robot. Then, the interlock to urgent stop by the contact sensor to secure safety to contact accident is the examined in this study. The interlock system which rapidly stops the robot becomes possible detecting contact with man by fully covering the robot arm with the contact sensor of the piezo film type. In this research, the breakdown characteristic of the piezo film sensor is examined to achieve the Fail-safe structure that the robot stopped when the sensor in this system broke down, and the response of the system when breaking down is also examined.
社団法人日本機械学会の論文
2004-09-04