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Evaluation of Industrial Robot Mechanical Systems for Applications that Require Human-Robot Collaboration
Mälardalen University, School of Innovation, Design and Engineering, Innovation and Product Realisation.
2020 (English)Doctoral thesis, comprehensive summary (Other academic)
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.

Place, publisher, year, edition, pages
Eskilstuna: Mälardalen University , 2020.
Series
Mälardalen University Press Dissertations, ISSN 1651-4238 ; 308
National Category
Mechanical Engineering
Research subject
Innovation and Design
Identifiers
URN: urn:nbn:se:mdh:diva-46609ISBN: 978-91-7485-457-2 (print)OAI: oai:DiVA.org:mdh-46609DiVA, id: diva2:1381168
Public defence
2020-02-21, Filen, Mälardalens högskola, Eskilstuna, 10:15 (English)
Opponent
Supervisors
Available from: 2019-12-20 Created: 2019-12-20 Last updated: 2020-01-21Bibliographically approved
List of papers
1. Structural synthesis of 3DOF Articulated Manipulators based on Kinematic Evaluation
Open this publication in new window or tab >>Structural synthesis of 3DOF Articulated Manipulators based on Kinematic Evaluation
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2013 (English)In: 16th International Conference on Advanced Robotics ICAR 2013, 2013, p. Article number 6766460-Conference paper, Published paper (Refereed)
Abstract [en]

In this study, serial and parallelogram linkage structures are evaluated and compared, on the basis of kinematic performance measures such as workspace and manipulability. Tradeoff relationships between workspace manipulability are established for both the structures, using the configuration of the arm lengths as a design variable. The structures are also analyzed on the basis of their manipulation ability in specific regions of their workspace, providing additional design criteria during the selection of the kinematic structure in the synthesis of industrial articulated robots.

Keywords
Condition Number, Industrial Robot, Singularity, Workspace
National Category
Engineering and Technology Other Engineering and Technologies
Identifiers
urn:nbn:se:mdh:diva-26426 (URN)10.1109/ICAR.2013.6766460 (DOI)000349898600011 ()2-s2.0-84899426922 (Scopus ID)
Conference
16th International Conference on Advanced Robotics ICAR 2013 , 25-29 Nov 2013, Montevideo, Uruguay
Projects
INNOFACTURE - innovative manufacturing development
Available from: 2014-11-02 Created: 2014-10-31 Last updated: 2019-12-20Bibliographically approved
2. Stiffness based global indices for structural evaluation of anthropomorphic manipulators
Open this publication in new window or tab >>Stiffness based global indices for structural evaluation of anthropomorphic manipulators
2014 (English)In: Joint 45th International Symposium on Robotics, ISR 2014 and 8th German Conference on Robotics, ROBOTIK 2014, 2014, p. 708-715Conference paper, Published paper (Refereed)
Abstract [en]

Knowledge based on experience and rules of thumb is often used during the concept selection phase of robot design since it could be extremely time consuming to perform the complete robot design process on all the possible structural alternatives. This article proposes an efficient procedure to perform structural evaluation of anthropomorphic manipulators with and without parallel transmission linkages for applicability in new generations of light weight and cost effective industrial robots. In this study the structural evaluation is performed based on the static elasticity behaviour of the two manipulator structures with emphasis on improving the structural rigidity without jeopardizing the control characteristics with respect to static deflection and natural frequencies.

Keywords
Anthropomorphic Manipulators, Global index, Structural evaluation
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
urn:nbn:se:mdh:diva-26550 (URN)2-s2.0-84908432148 (Scopus ID)9783800736010 (ISBN)
Conference
Joint 45th International Symposium on Robotics, ISR 2014 and 8th German Conference on Robotics, ROBOTIK 2014, 2 June 2014 through 3 June 2014
Available from: 2014-11-14 Created: 2014-11-14 Last updated: 2019-12-20Bibliographically approved
3. A methodology for comparing the dynamic efficiency of different kinematic robot structures
Open this publication in new window or tab >>A methodology for comparing the dynamic efficiency of different kinematic robot structures
2015 (English)In: 2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015, 2015, p. 1822-1827Conference paper, Published paper (Refereed)
Abstract [en]

This study proposes a methodology for comparing the dynamic effectiveness of two different kinematic structures based on actuator torque requirement criteria. The objective of this comparison is to find out what type of robot structure is best suited as a lightweight industrial robot in the conceptual design phase. As a proof of concept this method is applied to compare Serial and Parallelogram linkage anthropomorphic kinematic structures with respect to torque requirements. Several directions for future research are discussed to include additional comparison criteria and also to extend the application of the proposed method to compare two versions of same structure in the design phase of light weight industrial robots.

National Category
Mechanical Engineering
Identifiers
urn:nbn:se:mdh:diva-28958 (URN)10.1109/ICMA.2015.7237763 (DOI)000380447600318 ()2-s2.0-84955315451 (Scopus ID)978-1-4799-7097-1 (ISBN)
External cooperation:
Conference
2015 IEEE International Conference on Mechatronics and Automation (ICMA), 2-5 Aug. 2015, Beijing, China
Available from: 2015-09-21 Created: 2015-09-21 Last updated: 2019-12-20Bibliographically approved
4. Human-robot impact model: For safety assessment of collaborative robot design
Open this publication in new window or tab >>Human-robot impact model: For safety assessment of collaborative robot design
2017 (English)In: Proceedings - 2017 IEEE 5th International Symposium on Robotics and Intelligent Sensors, IRIS 2017, 2017, p. 236-243Conference paper, Published paper (Refereed)
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.

National Category
Robotics
Identifiers
urn:nbn:se:mdh:diva-38642 (URN)10.1109/IRIS.2017.8250128 (DOI)000425844300039 ()2-s2.0-85047377747 (Scopus ID)978-1-5386-1342-9 (ISBN)
Conference
IRIS 2017 IRIS 2017 IEEE, 05 Oct 2017, Ottawa, Canada
Available from: 2018-03-02 Created: 2018-03-02 Last updated: 2019-12-20Bibliographically approved
5. A design metric for safety assessment of industrial robot design suitable for power- and force-limited collaborative operation
Open this publication in new window or tab >>A design metric for safety assessment of industrial robot design suitable for power- and force-limited collaborative operation
2018 (English)In: INTERNATIONAL JOURNAL OF INTELLIGENT ROBOTICS AND APPLICATIONS, ISSN 2366-5971, Vol. 2, no 2, p. 226-234Article in journal (Refereed) Published
Abstract [en]

This research presents a novel design metric based on maximum power flux density for the assessment of the severity of a transient physical contact between a robot manipulator and a human body region. Such incidental transient contact can occur in the course of a collaborative application of the power- and force-limiting type. The proposed metric is intended for the design and development of the robot manipulator as well as for the design of manufacturing applications. Such safety metric can also aid in controlling the robot's speeds during manufacturing operations by carrying out rapid risk assessments of impending collisions that could arise due to the proximity to the human co-worker. Furthermore, this study contributes by expressing the physical impact between the robot and the human body region as a linear spring-damper model. The influence of the restitution coefficient and the elasticity of the human tissues on the contact duration and contact area during the collision is analysed. With the demonstrated analysis model, the dependence of the power flux density with respect to the robot's effective mass, speed, and geometrical and damping coefficients during the human-industrial robot manipulator collision process is investigated.

Place, publisher, year, edition, pages
SPRINGER, 2018
Keywords
Collaborative robots, Safety metrics, Impact modelling, Dynamic modelling
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
urn:nbn:se:mdh:diva-40525 (URN)10.1007/s41315-018-0055-9 (DOI)000441194000008 ()29876516 (PubMedID)2-s2.0-85071514781 (Scopus ID)
Available from: 2018-08-23 Created: 2018-08-23 Last updated: 2019-12-20Bibliographically approved
6. Simulation methodology for performance and safety evaluation of human-industrial robot collaboration workstation design
Open this publication in new window or tab >>Simulation methodology for performance and safety evaluation of human-industrial robot collaboration workstation design
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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

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Reddy Vemula, Bhanoday

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