This paper proposes the use of passive force and torque limiting devices to bound the maximum forces that can be applied at the end-effector or along the links of a robot, thereby ensuring the safety of human–robot interaction. Planar isotropic force limiting modules are proposed and used to analyze the force capabilities of a two-degree-of-freedom (2DOF) planar serial robot. The force capabilities at the end-effector are first analyzed. It is shown that, using isotropic force limiting modules, the performance to safety index remains excellent for all configurations of the robot. The maximum contact forces along the links of the robot are then analyzed. Force and torque limiters are distributed along the structure of the robot in order to ensure that the forces applied at any point of contact along the links are bounded. A power analysis is then presented in order to support the results. Finally, examples of mechanical designs of force/torque limiters are shown to illustrate a possible practical implementation of the concept.
Skip Nav Destination
Article navigation
October 2016
Research-Article
Force Capabilities of Two-Degree-of-Freedom Serial Robots Equipped With Passive Isotropic Force Limiters
Meiying Zhang,
Meiying Zhang
Département de Génie Mécanique,
Université Laval,
Québec, QC G1V 0A6, Canada
e-mail: meiying.zhang.1@ulaval.ca
Université Laval,
Québec, QC G1V 0A6, Canada
e-mail: meiying.zhang.1@ulaval.ca
Search for other works by this author on:
Thierry Laliberté,
Thierry Laliberté
Département de Génie Mécanique,
Université Laval,
Québec, QC G1V 0A6, Canada
e-mail: thierry@gmc.ulaval.ca
Université Laval,
Québec, QC G1V 0A6, Canada
e-mail: thierry@gmc.ulaval.ca
Search for other works by this author on:
Clément Gosselin
Clément Gosselin
Département de Génie Mécanique,
Université Laval,
Québec, QC G1V 0A6, Canada
e-mail: gosselin@gmc.ulaval.ca
Université Laval,
Québec, QC G1V 0A6, Canada
e-mail: gosselin@gmc.ulaval.ca
Search for other works by this author on:
Meiying Zhang
Département de Génie Mécanique,
Université Laval,
Québec, QC G1V 0A6, Canada
e-mail: meiying.zhang.1@ulaval.ca
Université Laval,
Québec, QC G1V 0A6, Canada
e-mail: meiying.zhang.1@ulaval.ca
Thierry Laliberté
Département de Génie Mécanique,
Université Laval,
Québec, QC G1V 0A6, Canada
e-mail: thierry@gmc.ulaval.ca
Université Laval,
Québec, QC G1V 0A6, Canada
e-mail: thierry@gmc.ulaval.ca
Clément Gosselin
Département de Génie Mécanique,
Université Laval,
Québec, QC G1V 0A6, Canada
e-mail: gosselin@gmc.ulaval.ca
Université Laval,
Québec, QC G1V 0A6, Canada
e-mail: gosselin@gmc.ulaval.ca
Manuscript received September 12, 2015; final manuscript received November 25, 2015; published online May 4, 2016. Assoc. Editor: Andrew P. Murray.
J. Mechanisms Robotics. Oct 2016, 8(5): 051002 (9 pages)
Published Online: May 4, 2016
Article history
Received:
September 12, 2015
Revised:
November 25, 2015
Citation
Zhang, M., Laliberté, T., and Gosselin, C. (May 4, 2016). "Force Capabilities of Two-Degree-of-Freedom Serial Robots Equipped With Passive Isotropic Force Limiters." ASME. J. Mechanisms Robotics. October 2016; 8(5): 051002. https://doi.org/10.1115/1.4032120
Download citation file:
Get Email Alerts
Cited By
2024 Reviewers
J. Mechanisms Robotics
Inverse Design of Three-Dimensional Variable Curvature Pneumatic Soft Actuators
J. Mechanisms Robotics (July 2025)
Exact Solutions of the Mixed Motion and Path Synthesis Problem for Four-Bar Linkages
J. Mechanisms Robotics (July 2025)
Related Articles
Optimal Design of Safe Planar Manipulators Using Passive Torque Limiters
J. Mechanisms Robotics (February,2016)
Design and Analysis of a Hybrid Mobile Robot Mechanism With Compounded Locomotion and Manipulation Capability
J. Mech. Des (July,2008)
Kinematic Design Method for Rail-Guided Robotic Arms
J. Mechanisms Robotics (February,2017)
Design Methodology for Robotic Manipulator for Overground Physical Interaction Tasks
J. Mechanisms Robotics (August,2020)
Related Proceedings Papers
Related Chapters
QP Based Encoder Feedback Control
Robot Manipulator Redundancy Resolution
Feedback-Aided Minimum Joint Motion
Robot Manipulator Redundancy Resolution
Pseudoinverse Method and Singularities Discussed
Robot Manipulator Redundancy Resolution