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Applicability of Artificial Robotic Skin for Industrial Manipulators

机译：人工机器人皮肤对工业操纵器的适用性

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摘要

As the concept of cooperation between robots and humans is becoming more and more popular, companies develop devices transforming industrial manipulators into cobots, or collaborative robots intended to interact with humans. Their interactions with humans can be enabled by equipping the robots with so-called artificial robotic skins, which allow robots to receive and interpret touch. However, it is only in limited conditions that such manipulators comply with international standards. In this paper, the applicability of robotic skins for industrial purposes is assessed based on experimental trials. The procedure involved colliding robotic skin pads with a pendulum. The amount of energy transferred during the impact was calculated from measured deviation. The study showed that industrial robots equipped with artificial robotic skins can be safely used when the velocity of motion is within a very limited range of maximum velocity. It is suggested that this range may be extended to more feasible by decreasing stiffness of the materials used to make the pads or by improving sensitivity of sensors.
机译：由于机器人与人类之间的合作概念越来越受欢迎，公司将设备开发将工业机械手转变为Cobots，或打算与人类互动的合作机器人。它们与人类的互动可以通过用所谓的人造机器人皮肤的机器人来实现，这允许机器人接收和解释触摸。但是，只有在有限的条件下，这种操纵者符合国际标准。本文根据实验试验评估了机器人皮肤对工业目的的适用性。该程序涉及与摆锤的碰撞机器人皮垫。在撞击期间转移的能量量由测量的偏差计算。该研究表明，当运动速度在最大速度范围内的速度范围内时，可以安全地使用配备有人造机器人皮肤的工业机器人。建议可以通过降低用于制造焊盘的材料的刚度或通过提高传感器的灵敏度来延伸到更可行的范围。

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