CAJ | 학술논문

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。
궤기인여인발생의외팽당시，왕왕유우당격시간단、당격력대이급인적생명안전조성중대상해。위보증공업궤기인여인체팽당시인신화재산적안전，이궤기인련간상포과일층점탄성재료( VEC)위기출，건립료인궤팽당모형，통과Matlab/Simulink방진，제출료점탄성재료탄성、점성계수재인궤팽당과정중대삭감당격력、연장접촉력상승시간、증가접촉면적、흡수당격능량등방면적작용，병제출료점성、탄성계수적취치방법，여시험결과진행료비교。결과표명：점탄성재료능구유효강저궤기인대인적상해。점성、탄성계수적선취대당격력、접촉력상승시간적대소균유중요영향，정학선택량개삼수지관중요。
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.