0
research-article

Development of n-DoF preloaded structures for impact mitigation in cobots

[+] Author and Article Information
Stefano Seriani

University of Trieste, Department of Architecture and Engineering, via A. Valerio 10, 34127, Trieste (TS), Italy
sseriani@units.it

Paolo Gallina

University of Trieste, Department of Architecture and Engineering, via A. Valerio 10, 34127, Trieste (TS), Italy
pgallina@units.it

Lorenzo Scalera

University of Udine, Politechnical Department of Engineering and Architecture, via delle Scienze 206, 33100, Udine (UD), Italy
scalera.lorenzo@spes.uniud.it

Vanni Lughi

University of Trieste, Department of Architecture and Engineering, via A. Valerio 10, 34127, Trieste (TS), Italy
vlughi@units.it

1Corresponding author.

ASME doi:10.1115/1.4040632 History: Received November 24, 2017; Revised May 31, 2018

Abstract

A core issue in collaborative robotics is that of impact mitigation, especially when collisions happen with operators. Passively compliant structures can be used as the frame of the cobot, although usually they are implemented by means of a single DoF. However, n-DoF preloaded structures offer a number of advantages, in terms of flexibility in designing their behavior. In this work we propose a comprehensive framework for classifying n-DoF preloaded structures, including 1-, 2-, and 3-dimensional arrays. Also, we study the implications of the peculiar behavior of these structures - which present sharp stiff-to-compliant transitions at design-determined load thresholds - on impact mitigation. To this regard, an analytical n-DoF dynamic model was developed and numerically implemented. A prototype of a 10-DoF structure was tested under static and impact loads, showing a very good agreement with the model. Future developments will see the application of n-DoF preloaded structures to impact-mitigation on cobots and in the field of mobile robots, as well as to the field of novel architected materials.

Copyright (c) 2018 by ASME
Your Session has timed out. Please sign back in to continue.

References

Figures

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In