mdh.sePublications
Change search
Link to record
Permanent link

Direct link
BETA
Publications (10 of 15) Show all publications
Ore, F. (2020). Designing workstations for human–industrial robot collaboration: Development and application of simulation software. (Doctoral dissertation). Västerås: Mälardalen University
Open this publication in new window or tab >>Designing workstations for human–industrial robot collaboration: Development and application of simulation software
2020 (English)Doctoral thesis, comprehensive summary (Other academic)
Abstract [en]

Human-industrial robot collaboration (HIRC) creates an opportunity for an ideal combination of human senses and industrial robot efficiency. The strength, endurance and accuracy of industrial robots can be combined with human intelligence and flexibility to create workstations with increased productivity, quality and reduced ergonomic load compared with traditional manual workstations. Even though multiple technical developments of industrial robot and safety systems have taken place over the last decade, solutions facilitating HIRC workstation design are still limited. One element in realising an efficient design of a future workstation is a simulation software. Thus the objective of this research is to (1) develop a demonstrator software that simulates, visualises and evaluates HIRC workstations and (2) propose a design process of how to apply such a simulation software in an industrial context.

The thesis comprises five papers describing the development of a HIRC simulation software and its corresponding design process. Two existing simulation software tools, one for digital human modelling and one for robotic simulation, were merged into one application. Evaluation measures concerning operation time and ergonomic load were included in the common software. Existing engineering design methods were applied in a HIRC workstation context to describe the utilisation of a HIRC simulation software. These developments were demonstrated in five actual industrial cases from a heavy vehicle manufacturing company.

The HIRC simulation software developed enables simulation, visualisation and evaluation of all kinds of HIRC workstations where human and robot simultaneously work in a collaborative environment including hand-guiding tasks. Multiple layout alternatives can be visualised and compared with quantitative numbers of total operation time and biomechanical load on the human body. An integrated HIRC workstation design process describes how such a simulation software can be applied to create suitable workstations. This process also includes a safety measure by which the collision forces between the industrial robot and the human are predicted. These forces have to be minimised to tolerable limits in order to design safe HIRC workstations.

The HIRC simulation software developed and the proposed workstation design process enable more efficient HIRC workstation design. The possibility of designing and evaluating HIRC alternatives for hand-guiding activities is rarely found in other simulation software. The evaluation could include different types of layout alternatives and workstations: HIRC, fully manual or fully automatic. All of these could be compared based on their total operation time and biomechanical load and thus be used in workstation design decision making.

Place, publisher, year, edition, pages
Västerås: Mälardalen University, 2020
Series
Mälardalen University Press Dissertations, ISSN 1651-4238 ; 306
National Category
Production Engineering, Human Work Science and Ergonomics
Research subject
Innovation and Design
Identifiers
urn:nbn:se:mdh:diva-46591 (URN)978-91-7485-456-5 (ISBN)
Public defence
2020-02-14, Filen, Mälardalens högskola, Eskilstuna, 10:00 (English)
Opponent
Supervisors
Available from: 2019-12-19 Created: 2019-12-18 Last updated: 2020-01-16Bibliographically approved
Ore, F., Reddy Vemula, B., Hanson, L., Wiktorsson, M. & Fagerström, B. (2019). Simulation methodology for performance and safety evaluation of human-industrial robot collaboration workstation design. INTERNATIONAL JOURNAL OF INTELLIGENT ROBOTICS AND APPLICATIONS, 3(3), 269-282
Open this publication in new window or tab >>Simulation methodology for performance and safety evaluation of human-industrial robot collaboration workstation design
Show others...
2019 (English)In: INTERNATIONAL JOURNAL OF INTELLIGENT ROBOTICS AND APPLICATIONS, ISSN 2366-5971, Vol. 3, no 3, p. 269-282Article in journal (Refereed) Published
Abstract [en]

There is a strong interest in the scope of human-industrial robot collaboration (HIRC) in manufacturing industry for greater flexibility and productivity. However, HIRC in manufacturing is still in its infancy; industrial practitioners have many apprehensions and uncertainties concerning the system's performance and human operators' safety. Therefore, there is a need for investigations into design processes and methods to make sure the designed HIRC workstations successfully meet design guidelines on system performance, human safety and ergonomics for practical industrial applications. This research proposes a HIRC workstation design process. The novelty of this design process is the methodology to evaluate the HIRC workstation design alternatives by considering both performance and safety characteristics through computer-based simulations. As a proof of concept, the proposed HIRC design process is applied on an industrial manufacturing case from a heavy-vehicle manufacturing company.

Keywords
Human industrial robot collaboration, Safety, Ergonomics, Collision model, Performance evaluation, Risk assessment
National Category
Mechanical Engineering
Identifiers
urn:nbn:se:mdh:diva-45373 (URN)10.1007/s41315-019-00097-0 (DOI)000486179900003 ()2-s2.0-85075361362 (Scopus ID)
Available from: 2019-10-03 Created: 2019-10-03 Last updated: 2019-12-20Bibliographically approved
Gopinath, V., Ore, F., Grahn, S. & Johansen, K. (2018). Safety-Focussed Design of Collaborative Assembly Station with Large Industrial Robots. In: Procedia Manufacturing: . Paper presented at 8th Swedish Production Symposium, SPS 2018, 16 May 2018 through 18 May 2018 (pp. 503-510). Elsevier B.V.
Open this publication in new window or tab >>Safety-Focussed Design of Collaborative Assembly Station with Large Industrial Robots
2018 (English)In: Procedia Manufacturing, Elsevier B.V. , 2018, p. 503-510Conference paper, Published paper (Refereed)
Abstract [en]

The perceived benefits of large industrial robots for collaborative operations are characteristics such as long reach with heavy load carrying capability. Collaborative operations refers to situations where operators and robots share a workspace to complete tasks in close proximity. This mode of operation coupled with the physical characteristics of large robots represents high risks to injury and for these reasons, the safeguarding of the workspaces needs to be achieved in conjunction with the tasks to be performed within the workstation. This article will detail two workstations that was developed in a laboratory environment and are partial results of a research project titled ToMM2, whose aim was to understand safety issues associated with collaborative operations with large robots.

Place, publisher, year, edition, pages
Elsevier B.V., 2018
Keywords
Collaborative Operations, Hazards, Human-Robot Collaboration, Industrial Robot Safety, Risks
National Category
Computer and Information Sciences
Identifiers
urn:nbn:se:mdh:diva-43507 (URN)10.1016/j.promfg.2018.06.124 (DOI)2-s2.0-85065654364 (Scopus ID)
Conference
8th Swedish Production Symposium, SPS 2018, 16 May 2018 through 18 May 2018
Available from: 2019-05-28 Created: 2019-05-28 Last updated: 2019-05-28Bibliographically approved
Ore, F., Hansson, L. & Wiktorsson, M. (2017). Method for Design of Human-industrial Robot Collaboration Workstations. Paper presented at 27th International Conference on Flexible Automation and Intelligent Manufacturing FAIM2017, 27 Jun 2017, Modena, Italy. Procedia Manufacturing, 11, 4-12
Open this publication in new window or tab >>Method for Design of Human-industrial Robot Collaboration Workstations
2017 (English)In: Procedia Manufacturing, ISSN 2351-9789, Vol. 11, p. 4-12Article in journal (Refereed) Published
Abstract [en]

In order to fully utilise a 3D simulation software capable of evaluating hand-guided human-industrial robot collaborative (HIRC) work tasks, there is a need of a HIRC design process for early production development stages. This paper proposes a HIRC design method that uses the possibilities of the demonstrator software in the HIRC workstation design process. The method is based on Pahl and Beitz's engineering design method; it interprets all their phases and activities into HIRC design-specific ones.

Place, publisher, year, edition, pages
Elsevier B.V., 2017
National Category
Design Production Engineering, Human Work Science and Ergonomics
Identifiers
urn:nbn:se:mdh:diva-36679 (URN)10.1016/j.promfg.2017.07.112 (DOI)000419072100001 ()2-s2.0-85029863172 (Scopus ID)
Conference
27th International Conference on Flexible Automation and Intelligent Manufacturing FAIM2017, 27 Jun 2017, Modena, Italy
Projects
XPRES - Excellence in Production ResearchINNOFACTURE - innovative manufacturing development
Available from: 2017-10-06 Created: 2017-10-06 Last updated: 2018-03-08Bibliographically approved
Gopinath, V., Ore, F. & Johansen, K. (2017). Safe Assembly Cell Layout through Risk Assessment - An Application with Hand Guided Industrial Robot. In: Procedia CIRP, vol. 63: . Paper presented at 50th CIRP Conference on Manufacturing Systems, CIRP CMS 2017; Taichung City HallTaichung; Taiwan; 3 May 2017 through 5 May 2017 (pp. 430-435). Elsevier B.V.
Open this publication in new window or tab >>Safe Assembly Cell Layout through Risk Assessment - An Application with Hand Guided Industrial Robot
2017 (English)In: Procedia CIRP, vol. 63, Elsevier B.V. , 2017, p. 430-435Conference paper, Published paper (Refereed)
Abstract [en]

Risk assessment is a systematic and iterative process which involves risk analysis where the probable hazards are identified and corresponding risks are evaluated along with solutions to mitigate the effect of these risks. In this article the outcome of a risk assessment process will be detailed where a large industrial robot is being used as a intelligent and flexible lifting tool that can aid operators in assembly tasks. The realization of a collaborative assembly station has several benefits such as increased productivity and improved ergonomic work environment. The article will detail the design of the layout of a collaborative assembly cell which takes into account the safety and productivity concerns of automotive assembly plants. 

Place, publisher, year, edition, pages
Elsevier B.V., 2017
National Category
Production Engineering, Human Work Science and Ergonomics
Identifiers
urn:nbn:se:mdh:diva-36491 (URN)10.1016/j.procir.2017.03.160 (DOI)000418465500073 ()2-s2.0-85028677171 (Scopus ID)
Conference
50th CIRP Conference on Manufacturing Systems, CIRP CMS 2017; Taichung City HallTaichung; Taiwan; 3 May 2017 through 5 May 2017
Available from: 2017-09-21 Created: 2017-09-21 Last updated: 2018-01-22Bibliographically approved
Ore, F., Reddy Vemula, B., Hanson, L. & Wiktorsson, M. (2016). Human - Industrial Robot Collaboration: Application of Simulation Software for Workstation Optimisation. Paper presented at 6th CIRP Conference on Assembly Technologies and Systems CATS16, 16 May 2016, Göteborg, Sweden. Procedia CIRP, 181-186
Open this publication in new window or tab >>Human - Industrial Robot Collaboration: Application of Simulation Software for Workstation Optimisation
2016 (English)In: Procedia CIRP, ISSN 2212-8271, E-ISSN 2212-8271, p. 181-186Article in journal (Refereed) Published
National Category
Production Engineering, Human Work Science and Ergonomics
Identifiers
urn:nbn:se:mdh:diva-32859 (URN)10.1016/j.procir.2016.02.002 (DOI)000376432200030 ()2-s2.0-84994071229 (Scopus ID)
Conference
6th CIRP Conference on Assembly Technologies and Systems CATS16, 16 May 2016, Göteborg, Sweden
Projects
XPRESINNOFACTURE - innovative manufacturing development
Available from: 2016-09-23 Created: 2016-08-24 Last updated: 2017-11-21Bibliographically approved
Ore, F. (2015). Human − industrial robot collaboration: Simulation, visualisation and optimisation of future assembly workstations. (Licentiate dissertation). Västerås: Mälardalen University
Open this publication in new window or tab >>Human − industrial robot collaboration: Simulation, visualisation and optimisation of future assembly workstations
2015 (English)Licentiate thesis, comprehensive summary (Other academic)
Place, publisher, year, edition, pages
Västerås: Mälardalen University, 2015
Series
Mälardalen University Press Licentiate Theses, ISSN 1651-9256 ; 211
National Category
Production Engineering, Human Work Science and Ergonomics
Research subject
Innovation and Design
Identifiers
urn:nbn:se:mdh:diva-28070 (URN)978-91-7485-218-9 (ISBN)
Presentation
2015-09-08, Filen, Mälardalens högskola, Eskilstuna, 10:00 (English)
Opponent
Supervisors
Funder
Knowledge Foundation
Available from: 2015-06-03 Created: 2015-06-03 Last updated: 2015-08-24Bibliographically approved
Ore, F., Hanson, L., Delfs, N. & Wiktorsson, M. (2015). Human Industrial Robot Collaboration – development and application of simulation software. International Journal of Human Factors Modelling and Simulation, 5(2), 164-185
Open this publication in new window or tab >>Human Industrial Robot Collaboration – development and application of simulation software
2015 (English)In: International Journal of Human Factors Modelling and Simulation, ISSN 1742-5557, Vol. 5, no 2, p. 164-185Article, review/survey (Refereed) Published
Abstract [en]

Human industrial robot collaboration (HIRC) aims to combine the benefits of industrial robots with humans in production environments. This is a growing research field where most work focuses on the safety aspects, while little research is performed on simulation and visualisation. The aim of this paper is to present a demonstrator software for simulation, visualisation and evaluation of human industrial robot collaboration.

Two simulation software products were combined to reach this goal. The new tool was then applied to two industrial assembly cases where productivity and biomechanical loads on humans were calculated. The resulting demonstrator software simulates and visualises human industrial robot collaboration. The quantitative output from the simulation makes it possible to compare HIRC, manual and robotic assembly stations in terms of productivity and ergonomics.

Keywords
Human robot collaboration; HRC; industrial robot collaboration; human robot; industrial assembly; man machine; digital human modelling; DHM; virtual simulation; workstation design; ergonomics
National Category
Production Engineering, Human Work Science and Ergonomics
Research subject
Innovation and Design
Identifiers
urn:nbn:se:mdh:diva-28068 (URN)10.1504/IJHFMS.2015.075362 (DOI)
Projects
INNOFACTURE - innovative manufacturing development
Funder
XPRES - Initiative for excellence in production research
Available from: 2015-06-03 Created: 2015-06-03 Last updated: 2019-12-18Bibliographically approved
Ore, F., Reddy Vemula, B., Hanson, L. & Wiktorsson, M. (2015). Human Industrial Robot Collaboration – Optimisation of Handover Position. In: 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, Hamburg, Germany, September 28 - October 02, 2015.: . Paper presented at 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015).
Open this publication in new window or tab >>Human Industrial Robot Collaboration – Optimisation of Handover Position
2015 (English)In: 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, Hamburg, Germany, September 28 - October 02, 2015., 2015Conference paper, Published paper (Refereed)
Abstract [en]

The simulation possibilities of Human Industrial Robot Collaboration (HIRC) are limited in commercial software and published research. In order to meet this a demonstrator software has been developed. This paper presents the combination of the quantitative output from the software (measuring operation time and biomechanical load) together with optimisation techniques used to design the optimal HIRC workstation. An industrial case is used as an example where the optimal geometric handover position between robot and human is found. From the simulation software metamodels were created in order to represent the investigated workstation. The model was used in a multi-objective optimisation problem and resulted in a trade-off chart between operation time and biomechanical load. The result shows one example of the possibilities to combine the quantitative results from the simulation with optimisation in order to get the best solution to a HIRC design problem.

National Category
Production Engineering, Human Work Science and Ergonomics
Research subject
Innovation and Design
Identifiers
urn:nbn:se:mdh:diva-28069 (URN)
Conference
2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015)
Available from: 2015-06-03 Created: 2015-06-03 Last updated: 2016-12-27Bibliographically approved
Khalid, O., Caliskan, D., Ore, F. & Hanson, L. (2015). Simulation and evaluation of industrial applications of Human-Industrial Robot Collaboration cases. In: Nordic Ergonomics Society 47th Annual Conference NES 2015: . Paper presented at Nordic Ergonomics Society 47th Annual Conference NES 2015, 1-4 Nov 2015, Lillehammer, Norway.
Open this publication in new window or tab >>Simulation and evaluation of industrial applications of Human-Industrial Robot Collaboration cases
2015 (English)In: Nordic Ergonomics Society 47th Annual Conference NES 2015, 2015Conference paper, Published paper (Refereed)
Abstract [en]

Presented in this paper are two cases from a heavy vehicle manufacturer which demonstrate the potential width of Human-Industrial Robot Collaboration workstations. Case I simulates in machining environments, the assisted inspection of inline engine blocks and Case II simulates in logistics environments, the assisted material preparation for assembly line orders. The analysis and simulations were carried out with a software tool that combined digital human modelling, robotic simulation, path planning and use of technical computing tools. Results demonstrate the improvement of process ergonomics and cycle time.

Keywords
Human-Industrial Robot Collaboration, HIRC, simulation, Digital Human Modelling, DHM, man-machine, industrial robot.
National Category
Robotics
Identifiers
urn:nbn:se:mdh:diva-29663 (URN)978-82-995747-5-4 (ISBN)
Conference
Nordic Ergonomics Society 47th Annual Conference NES 2015, 1-4 Nov 2015, Lillehammer, Norway
Projects
XPRESINNOFACTURE - innovative manufacturing development
Available from: 2015-12-02 Created: 2015-11-26 Last updated: 2015-12-02Bibliographically approved
Organisations
Identifiers
ORCID iD: ORCID iD iconorcid.org/0000-0002-2401-0380

Search in DiVA

Show all publications