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Human-robot impact model: For safety assessment of collaborative robot design
Mälardalens högskola, Akademin för innovation, design och teknik, Innovation och produktrealisering.
ABB, Västerås, Sweden.
Mälardalens högskola, Akademin för innovation, design och teknik, Inbyggda system. ABB, Västerås, Sweden.
ABB, Västerås, Sweden.ORCID-id: 0000-0002-7816-1213
2017 (Engelska)Ingår i: Proceedings - 2017 IEEE 5th International Symposium on Robotics and Intelligent Sensors, IRIS 2017, 2017, s. 236-243Konferensbidrag, Publicerat paper (Refereegranskat)
Abstract [en]

In this research, a novel impact simulation model based on compliant contact force (CCF) modelling approach is presented. This model can simulate the physical impact between non-homogeneous and layered elastic bodies representing the robot and human body parts. The proposed CCF model is intended to be used by the robot designers to execute safety evaluation tasks during the design and development of collaborative robot systems. The main theoretical contribution from this CCF impact model is related to the formulations, which can account for the contact behavior due to the non-homogeneous nature of the impacting bodies. The relevance of the proposed impact simulation is evaluated based on a comparative analysis with other available relevant models from the literature as well as with Finite element based simulation model. Finally, the influence of various robot design parameters on the impact severity is analyzed for different impact scenarios by adopting the proposed CCF model.

Ort, förlag, år, upplaga, sidor
2017. s. 236-243
Nationell ämneskategori
Robotteknik och automation
Identifikatorer
URN: urn:nbn:se:mdh:diva-38642DOI: 10.1109/IRIS.2017.8250128ISI: 000425844300039Scopus ID: 2-s2.0-85047377747ISBN: 978-1-5386-1342-9 (digital)OAI: oai:DiVA.org:mdh-38642DiVA, id: diva2:1187137
Konferens
IRIS 2017 IRIS 2017 IEEE, 05 Oct 2017, Ottawa, Canada
Tillgänglig från: 2018-03-02 Skapad: 2018-03-02 Senast uppdaterad: 2019-12-20Bibliografiskt granskad
Ingår i avhandling
1. Evaluation of Industrial Robot Mechanical Systems for Applications that Require Human-Robot Collaboration
Öppna denna publikation i ny flik eller fönster >>Evaluation of Industrial Robot Mechanical Systems for Applications that Require Human-Robot Collaboration
2020 (Engelska)Doktorsavhandling, sammanläggning (Övrigt vetenskapligt)
Abstract [en]

In order to develop robot automation for new market sectors associated with short product lifetimes and frequent production change overs, industrial robots must exhibit a new level of flexibility and versatility. This situation has led to the growing interest in making humans and robots share their working environments and sometimes even allowing direct physical contact between the two in order to make them work cooperatively on the same task by enabling human-industrial robot collaboration (HIRC). In this context, it is very important to evaluate both the performance and the inherent safety characteristics associated with a given industrial robot manipulator system in HIRC workstation during the design and development stages.

This necessitates a need to formulate evaluation methods with relevant design metrics and quantitative methods based on simulations, which can support the robot mechanical designer to correlate the task-, and safety- based performance characteristics of industrial robot mechanical system for HIRC applications. The research objective perused in this research aiming to address this need.

This research project adopts research methodology based on action-reflection approach in a collaborative research setting between academia and industry. The design knowledge is gained on how to evaluate a specific industrial robot mechanical system design for usability in a specific collaborative application with humans. This is done by carrying out simulation-based evaluation tasks to measure and subsequently analyze the task-, and safety- based performance characteristics of industrial robot mechanical systems. Based on the acquired knowledge, an evaluation methodology with relevant design metrics and simulation modelling approaches is proposed in this research which integrates simulation based design processes of both Human-industrial robot workstation as well as robot mechanical system in order to make a well-grounded assessment on whether the robot mechanical system fulfills the task- and safety-based performance requirements corresponding to a specific collaborative application.

Ort, förlag, år, upplaga, sidor
Eskilstuna: Mälardalen University, 2020
Serie
Mälardalen University Press Dissertations, ISSN 1651-4238 ; 308
Nationell ämneskategori
Maskinteknik
Forskningsämne
innovation och design
Identifikatorer
urn:nbn:se:mdh:diva-46609 (URN)978-91-7485-457-2 (ISBN)
Disputation
2020-02-21, Filen, Mälardalens högskola, Eskilstuna, 10:15 (Engelska)
Opponent
Handledare
Tillgänglig från: 2019-12-20 Skapad: 2019-12-20 Senast uppdaterad: 2020-01-21Bibliografiskt granskad

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Reddy Vemula, BhanodaySpampinato, GiacomoFagerström, Björn

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