@inproceedings{80f6c266d0c9407abb5cda1bf058dd66,
title = "Design and implementation of dual-arm robot with homogeneous compliant joint",
abstract = "Safety is essential for physical Human-Robot Interaction (pHRI). Nowadays, most safety studies have focused on collision analysis and safety evaluation instead of the consideration of inherent safety. In this paper, a dual-Arm robot easily manufactured in batch is developed with homogeneous compliant joint. In order to compromise performance and safety, a nonlinear model of human-robot collision with effective mass and stiffness at the end-effecter(EE) is described and simulated to determine the tradeoff conditions under the safety criterion by ISO 15066 when human-robot collision occurs, and modal analysis on a single arm is carried out to compute the lowest order modal frequency by which kinematic performance is estimated roughly. Finally, spring stiffness of the compliant joint is selected to balance safety requirement and performance.",
keywords = "Compliant joint, Dual-Arm robot, Modal analysis, Safety",
author = "Yuancan Huang and Shuai Li and Siqi Li and Yin Ke",
note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 9th International Conference on Intelligent Human-Machine Systems and Cybernetics, IHMSC 2017 ; Conference date: 26-08-2017 Through 27-08-2017",
year = "2017",
month = sep,
day = "20",
doi = "10.1109/IHMSC.2017.172",
language = "English",
series = "Proceedings - 9th International Conference on Intelligent Human-Machine Systems and Cybernetics, IHMSC 2017",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "265--270",
booktitle = "Proceedings - 9th International Conference on Intelligent Human-Machine Systems and Cybernetics, IHMSC 2017",
address = "United States",
}