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Human-robot impact model: For safety assessment of collaborative robot design
Mälardalen University, School of Innovation, Design and Engineering, Innovation and Product Realisation.
ABB, Västerås, Sweden.
Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems. ABB, Västerås, Sweden.
ABB, Västerås, Sweden.ORCID iD: 0000-0002-7816-1213
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.

Place, publisher, year, edition, pages
2017. p. 236-243
National Category
Robotics
Identifiers
URN: urn:nbn:se:mdh:diva-38642DOI: 10.1109/IRIS.2017.8250128ISI: 000425844300039Scopus ID: 2-s2.0-85047377747ISBN: 978-1-5386-1342-9 (electronic)OAI: oai:DiVA.org:mdh-38642DiVA, id: diva2:1187137
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
In thesis
1. Evaluation of Industrial Robot Mechanical Systems for Applications that Require Human-Robot Collaboration
Open this publication in new window or tab >>Evaluation of Industrial Robot Mechanical Systems for Applications that Require Human-Robot Collaboration
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:nbn:se:mdh:diva-46609 (URN)978-91-7485-457-2 (ISBN)
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

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Reddy Vemula, BhanodaySpampinato, GiacomoFagerström, Björn

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