mdh.sePublications
Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
A design metric for safety assessment of industrial robot design suitable for power- and force-limited collaborative operation
Mälardalen University, School of Innovation, Design and Engineering, Innovation and Product Realisation.
ABB Corp Res Ctr Germany, Ladenburg, Germany..
ABB Corp Res Ctr, Dept Automat Technol, Vasteras, Sweden..
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. Vol. 2, no 2, p. 226-234
Keywords [en]
Collaborative robots, Safety metrics, Impact modelling, Dynamic modelling
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:mdh:diva-40525DOI: 10.1007/s41315-018-0055-9ISI: 000441194000008PubMedID: 29876516Scopus ID: 2-s2.0-85047377747OAI: oai:DiVA.org:mdh-40525DiVA, id: diva2:1241225
Available from: 2018-08-23 Created: 2018-08-23 Last updated: 2018-11-05Bibliographically approved

Open Access in DiVA

No full text in DiVA

Other links

Publisher's full textPubMedScopus

Authority records BETA

Reddy Vemula, Bhanoday

Search in DiVA

By author/editor
Reddy Vemula, Bhanoday
By organisation
Innovation and Product Realisation
Electrical Engineering, Electronic Engineering, Information Engineering

Search outside of DiVA

GoogleGoogle Scholar

doi
pubmed
urn-nbn

Altmetric score

doi
pubmed
urn-nbn
Total: 946 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf