Abstract
The increasing number of artificial intelligence (AI) applications, and the adoption of collaborative robots in the industry are rising the necessity for the development of systems and algorithms able to detect and mitigate collisions. These are due to the probabilistic nature of AI applications and the environment. Indeed, an AI can perform poorly in unpredictable scenarios, and a cobot may face a distracted operator. These scenarios result in an unsafe situation where the robot impacts with its external environment. Solutions must be developed to mitigate these impacts with obstacles and manipulated objects. This paper presents a hydraulic module to be interposed between the end-effector and the robot flange. This module decouples the end-effector from the robot along the approach axis of the end-effector, thus mitigating the effects of accidental collisions occurring in such direction. Numerical results show the pros and cons of the new system.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Cohen, Y., Shoval, S., Faccio, M., Minto, R.: Deploying cobots in collaborative systems: major considerations and productivity analysis. Int. J. Prod. Res. 60(6), 1815–1831 (2022). https://doi.org/10.1080/00207543.2020.1870758
Seriani, S., et al.: Development of n-DoF preloaded structures for impact mitigation in cobots. J. Mech. Robot. 10(5), 051009 (2018)
Lobbezoo, A., et al.: Reinforcement learning for pick and place operations in robotics: a survey. Robotics 10(3), 105 (2021)
Tommasino, D., et al.: Effect of end-effector compliance on collisions in robotic teleoperation. Appl. Sci. 10(24), 9077 (2020)
Doria, A., et al.: Analysis of the compliance properties of an industrial robot with the Mozzi axis approach. Robotics 8(3), 80 (2019)
Tommasino, D., et al.: Development and validation of an end-effector for mitigation of collisions. J. Mech. Des. 144(4), 043301 (2021). https://doi.org/10.1115/1.4052443
Tommasino, D., et al.: Development of an end-effector for mitigation of collisions. In: 17th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA), vol. 7 (2021)
Matteo, B., et al.: Modeling and identification of an industrial robot with a selective modal approach. Appl. Sci. 10(13), 4619 (2020)
Cossalter, V., et al.: On the non-linear behaviour of motorcycle shock absorbers. Proc. Inst. Mech. Eng. Part D J. Automob. Eng. 224, 15–27 (2010)
Skrinjar, L., et al.: A review of continuous contact-force models in multibody dynamics. Int. J. Mech. Sci. 145, 171–187 (2018)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2022 The Author(s), under exclusive license to Springer Nature Switzerland AG
About this paper
Cite this paper
Cipriani, G., Tommasino, D., Bottin, M., Doria, A., Rosati, G. (2022). Development of a Hydraulic System for the Mitigation of End-Effector Collisions. In: Niola, V., Gasparetto, A., Quaglia, G., Carbone, G. (eds) Advances in Italian Mechanism Science. IFToMM Italy 2022. Mechanisms and Machine Science, vol 122. Springer, Cham. https://doi.org/10.1007/978-3-031-10776-4_22
Download citation
DOI: https://doi.org/10.1007/978-3-031-10776-4_22
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-031-10775-7
Online ISBN: 978-3-031-10776-4
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)