Technical faults in elastically-actuated robots

Expert opinions and methodological analyses

Themen: KI | Engineering & Maintenance | Robotik | International

Publikationsform: Fachartikel
Artikelnummer: 03654_2017_06_01
Zeitschrift: Technical faults in elastically-actuated robots
Erscheinungsdatum: 01.06.2017
Autor: Philipp Beckerle / Gernot Perner / Florian Stuhlenmiller / Stephan Rinderknecht
Herausgeber: Robotic systems using elastic actuators provide safe human-robot interaction and energy-efficient operation. Since increased complexity and critical operation states could foster fault occurrence, this paper investigates faults in elastically-actuated robots. To identify and assess relevant faults, expert opinions from an online survey are statistically evaluated and methodological analyses are performed considering a practical example. A variable torsion stiffness actuator is therefore examined by a function and structure analysis that feeds a failure mode and effects analysis. Beyond confirming the results of previous studies, the analyses in this paper substantiate the potential relevance of faults in the elastic elements and that faults might have crucial effect on human-machine interaction in general. From a methodological perspective, failure mode and effects analysis appears very suitable for fault analysis in systems engineering.
Verlag: DIV Deutscher Industrieverlag GmbH
Seiten: 10
Publikationsformat: PDF
Themenbereich: atp edition

Details

Robotic systems using elastic actuators provide safe human-robot interaction and energy-efficient operation. Since increased complexity and critical operation states could foster fault occurrence, this paper investigates faults in elastically-actuated robots. To identify and assess relevant faults, expert opinions from an online survey are statistically evaluated and methodological analyses are performed considering a practical example. A variable torsion stiffness actuator is therefore examined by a function and structure analysis that feeds a failure mode and effects analysis. Beyond confirming the results of previous studies, the analyses in this paper substantiate the potential relevance of faults in the elastic elements and that faults might have crucial effect on human-machine interaction in general. From a methodological perspective, failure mode and effects analysis appears very suitable for fault analysis in systems engineering.

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