Nowadays, robot manipulators are inextricably linked to industry but almost always human workers have to work in the same space as these robot manipulators. When humans and robots operate in a close vicinity to each other, safety for the workers have to be guaranteed. In this report, a safety jacket for the robot manipulators that will protect the working environment and the robots itself will be described. The ??rst part of the report gives an overview of the taken steps to design the new jacket to protect the robot arm and its working environment. Three concepts designs are proposed. Two of them had some drawbacks because they were too expensive or properly should not perform well enough. One design did meet the requirements. This design is made by Neoprene foam rubber in which chambers are drilled. The material has a closed cell structure which means that each cell is completely closed. It restricts air, water, and gas from passing through. Every chamber is connected to pressure sensors to detect collisions. After experiments turns out that this jacket worked properly and was even better than the old version. The graph of the calibration of each chamber is linear and there was no leakage. More important is that there are no hard components in the new design which makes it safer. Besides that, this design is box-shaped and hence the sensitivity to collisions is uniform over the surface of the new jacket. Moreover, the size of the jacket can be ??exibly changed by choosing di??erent size of Neoprene foam rubber. This gives the jacket a higher ??exibility to be mounted on di??erent con??gurations of robot arm. The second part of the report gives a few concepts designs for a acceleration measure- ment design. Four models are proposed. The all have to meet some requirements. After comparing the models with each other, two models turn out to be better and more suit- able. The 1 DOF linear guidance design and the spring model design because they meet the most requirements. For both models further works is described in chapter 7.
|Place of Publication||Eindhoven|
|Publisher||Eindhoven University of Technology|
|Publication status||Published - 2011|
Dielissen, F. F. A., Steinbuch, M., & Tomizuka, M. (2011). Design of a new protecting jacket and a complementary 2DOF acceleration measurement setup for a robot manipulator. (CST; Vol. 2011.025). Eindhoven University of Technology.