A Detailed Analysis of the V۲SOM Mechanism in Cabots: Mechanical Description and Functional Performance in Mathematical Modeling

In recent years, there has been a paradigm shift from designing rigid and robust robots towards incorporating adaptive and hybrid mechanisms in robotics. This shift is driven by numerous advantages, including enhanced force control in scenarios involving physical interaction with unknown environments. One of the primary applications of this new paradigm is collaborative robots, or Cabots, which are notable for their ability to closely cooperate with humans in complex and dynamic environments. To ensure safety in such interactions, a novel safety mechanism with variable stiffness, known as V۲SOM, has been introduced. This mechanism operates in two main modes: a high-stiffness mode, suitable for normal tasks and routine operations, and a low-stiffness mode, designed to absorb and mitigate the effects of potentially intolerable shocks during close human-robot interactions. The mechanism is designed to foster a safe and healthy relationship between humans and robots, minimizing the risk of injuries from sudden impacts and optimizing the robot's performance in different conditions.

کلیدواژه ها:

Human-robot collaboration ، load changes ، functional block ، rotary joints ، lever arm