摘要
为全面准确地掌握人机交互作业过程中人与机器人在安全性方面的研究进展,把提高机器人安全性的策略归纳为3种方法,分别称为事前预防主动控制、关节柔顺设计和用黏弹性材料包裹连杆,阐述了每种方法评价机器人安全性的主要性能指标。通过对比各种实现方法的设计思想和结构组成方案,总结出各种方法的优缺点和存在的主要问题。事前控制的关键在于信息的全面性和控制的实时性;事后控制方法的主要问题则只能在一定程度上减缓撞击的伤害程度,而无法从根本上保证人的安全性。结果表明,到目前为止仅靠单一手段和方法还不能彻底解决机器人安全性问题,要多种手段相结合,高度重视影响安全性的主客观因素,把提高机器人安全性的理念贯穿于机器人设计的各个环节。
For the purpose of precisely grasping the research development of human and robot safety during human-robot interaction,three types of methods for improving robot safety are summarized.The first is pre-collision preventive active control,the second is compliant joint design,and the third is link coating with viscoelastic materials.Corresponding evaluating criteria of robot safety for the above methods are discussed.By contrasting design mechanism and construction scheme of each type of method,the advantages,disadvantages and main problems are generalized.The key of pre-collision control depends on if the information is comprehensive and if the control is real-time.The problem of post-collision control is that the injury can only be eased,but can not be totally avoided.It is concluded that only depending on one of the above methods is hard to thoroughly resolve robot safety problem,and several methods should be combined to effectively improve robot safety.Meanwhile,both subjective and objective factors should be highly valued,and the idea of improving robot safety should be implemented in every stage of robot design.
出处
《中国安全科学学报》
CAS
CSCD
北大核心
2011年第11期79-86,共8页
China Safety Science Journal
基金
国家自然科学基金资助(51175084)
关键词
机器人
危险指数
头部伤害指数
事前控制
柔顺设计
黏弹性
robot
danger index
head injury criterion
pre-collision control
compliant design
viscoelasticity
