Page 209 - Mechatronics for Safety, Security and Dependability in a New Era

Ch40-I044963.fm Page 193 Tuesday, August 1, 2006 8:21 PM
1, 2006
8:21 PM
Tuesday, August
Ch40-I044963.fm
Page 193
193
193
are large enough to break the body of SDR-4X1I, the robot cuts off the power of the joints partly or in
whole. And if the robot's inner temperature becomes high enough to break itself or to burn the users
who touch it, it cuts off all the power of its body. These features, the Overload protection and the
Overheat protection, also contribute to SDR-4XfI's safety operation.

Figure 7: Falling over Motion Control

Figure 8: Standing up Motion Control
In addition to the above, SDR-4XII possesses the External pinching detection sensors in its joints
ofaxillas, elbows, waists, knees, and ankles as shown in Figure 9. Signals of those sensors are sent to the
motion control CPU via TSA-4 which is put into the nearest part of the body, and then the CPU gets the
condition of the pinching detection parts. If the robot clamps something in the above-mentioned joints,
it is able to detect the condition and release them. By this means the robot protects users not to hurt their
hands or fingers from pinching. The functions of ISA-4 contribute those five above-mentioned safety
features.
And at last, as shown in Figure 10 and Figure 11, the Cover design obviously contributes to the
safety operation of SDR-4XII. Users can touch the cover parts of the robot, and as the cover parts are
designed rounded, they do not hurt or scratch user's body. In addition, Figure 10 shows the covering
mechanism of its waist to guard the user's body, and Figure 11 shows the rounded shapes of the elbow
part which tend to release the pinched object.

in the elbow in the axilla in the waist in the ankle
Figure 9: Extra Pinching detection sensors

A pinched finger is easy to be released
A pinched finger is easy to be released
by the shapes of the elbow
by the shapes of the elbow
Figure 10: Backside covering mechanism Figure 11: Shape of the elbow joint