基于人机碰撞的粘弹性包覆层的参数研究

摘要

Heauy personal injury may be caused due to the transient process and huge impact force of the col ision between human and robot. In order to ensure the personal and property safety after human-robot col ision,based on a buffering layer of viscoelastic material( VEC) covering on manipulators, this paper establishes a human-machine model and by Matlab/Simulink simulation proposes the thinking that the viscoelasitc buffering can lower impact force, meanly, increasing contact area, and extending the ris-ing time of the impact force. Meanwhile, it puts forward the method of col ecting viscosity, elasticity coefficient values, and the results are compared with the test results. The results show that viscoelastic material can effectively reduce the personal injury to of the ro-bot;The value of the viscous and elastic coefficient has important influence on lowering impact force and extending the rising time of the impact force, so correct selection of two parameters is very important.%机器人与人发生意外碰撞时，往往由于撞击时间短、撞击力大而给人的生命安全造成重大伤害。为保证工业机器人与人体碰撞时人身和财产的安全，以机器人连杆上包裹一层粘弹性材料( VEC)为基础，建立了人机碰撞模型，通过Matlab/Simulink仿真，提出了粘弹性材料弹性、粘性系数在人机碰撞过程中对削减撞击力、延长接触力上升时间、增加接触面积、吸收撞击能量等方面的作用，并提出了粘性、弹性系数的取值方法，与试验结果进行了比较。结果表明：粘弹性材料能够有效降低机器人对人的伤害。粘性、弹性系数的选取对撞击力、接触力上升时间的大小均有重要影响，正确选择两个参数至关重要。