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  • 1.
    Ore, Fredrik
    et al.
    Mälardalen University, School of Innovation, Design and Engineering, Innovation and Product Realisation. Scania CV AB, Södertälje, Sweden.
    Reddy Vemula, Bhanoday
    Mälardalen University, School of Innovation, Design and Engineering, Innovation and Product Realisation.
    Hanson, Lars
    Scania CV AB, Södertälje, Sweden.
    Wiktorsson, Magnus
    Mälardalen University, School of Innovation, Design and Engineering, Innovation and Product Realisation.
    Human - Industrial Robot Collaboration: Application of Simulation Software for Workstation Optimisation2016In: Procedia CIRP, ISSN 2212-8271, E-ISSN 2212-8271, p. 181-186Article in journal (Refereed)
  • 2.
    Ore, Fredrik
    et al.
    Mälardalen University, School of Innovation, Design and Engineering, Innovation and Product Realisation.
    Reddy Vemula, Bhanoday
    Mälardalen University, School of Innovation, Design and Engineering, Innovation and Product Realisation.
    Hanson, Lars
    Scania CV AB, Sweden.
    Wiktorsson, Magnus
    Mälardalen University, School of Innovation, Design and Engineering, Innovation and Product Realisation.
    Human Industrial Robot Collaboration – Optimisation of Handover Position2015In: 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, Hamburg, Germany, September 28 - October 02, 2015., 2015Conference 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.

  • 3.
    Ore, Fredrik
    et al.
    Mälardalen University, School of Innovation, Design and Engineering, Innovation and Product Realisation. Scania CV AB, Global Ind Dev, S-15187 Sodertalje, Sweden.
    Reddy Vemula, Bhanoday
    Mälardalen University, School of Innovation, Design and Engineering, Innovation and Product Realisation.
    Hanson, Lars
    Scania CV AB, Global Ind Dev, S-15187 Sodertalje, Sweden.;Univ Skovde, Sch Engn Sci, S-54128 Skovde, Sweden.;Chalmers Univ Technol, Dept Ind & Mat Sci, S-41296 Gothenburg, Sweden..
    Wiktorsson, Magnus
    Mälardalen University, School of Innovation, Design and Engineering, Innovation and Product Realisation.
    Fagerström, Björn
    Mälardalen University, School of Innovation, Design and Engineering, Innovation and Product Realisation.
    Simulation methodology for performance and safety evaluation of human-industrial robot collaboration workstation design2019In: INTERNATIONAL JOURNAL OF INTELLIGENT ROBOTICS AND APPLICATIONS, ISSN 2366-5971, Vol. 3, no 3, p. 269-282Article in journal (Refereed)
    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.

  • 4.
    Reddy Vemula, Bhanoday
    Mälardalen University, School of Innovation, Design and Engineering, Innovation and Product Realisation.
    Evaluation of Industrial Robot Mechanical Systems for Applications that Require Human-Robot Collaboration2020Doctoral 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.

  • 5.
    Reddy Vemula, Bhanoday
    et al.
    Mälardalen University, School of Innovation, Design and Engineering, Innovation and Product Realisation.
    Matthias, Bjoern
    ABB Corp Res Ctr Germany, Ladenburg, Germany..
    Ahmad, Aftab
    ABB Corp Res Ctr, Dept Automat Technol, Vasteras, Sweden..
    A design metric for safety assessment of industrial robot design suitable for power- and force-limited collaborative operation2018In: INTERNATIONAL JOURNAL OF INTELLIGENT ROBOTICS AND APPLICATIONS, ISSN 2366-5971, Vol. 2, no 2, p. 226-234Article in journal (Refereed)
    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.

  • 6.
    Reddy Vemula, Bhanoday
    et al.
    Mälardalen University, School of Innovation, Design and Engineering, Innovation and Product Realisation.
    Ramteen, Marcus
    ABB, Västerås, Sweden.
    Spampinato, Giacomo
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems. ABB, Västerås, Sweden.
    Fagerström, Björn
    ABB, Västerås, Sweden.
    Human-robot impact model: For safety assessment of collaborative robot design2017In: Proceedings - 2017 IEEE 5th International Symposium on Robotics and Intelligent Sensors, IRIS 2017, 2017, p. 236-243Conference 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.

  • 7.
    Reddy Vemula, Bhanoday
    et al.
    Mälardalen University, School of Innovation, Design and Engineering, Innovation and Product Realisation.
    Spampinato, G.
    ABB Robotics, Västerås, Sweden.
    A methodology for evaluating energy-efficiency of different robot structures2017In: 2017 International Conference on Robotics and Automation Sciences, ICRAS 2017, Institute of Electrical and Electronics Engineers Inc. , 2017, p. 20-24Conference paper (Refereed)
    Abstract [en]

    Evaluation of different robot structures is a difficult but relevant challenge. Providing tools and methods to allow robot designers or end-users to quantitatively compare robot structures is necessary because the variety of existing robot structures makes it hard to choose which one is the best suited for a specific task or for a new application process. This paper proposes a methodology for evaluating a set of two robot structures at a time in order to select the best structure among them for a new application process. As a proof of concept this method is applied to evaluate two anthropomorphic robot structures, one with and one without parallel linkage transmission. The evaluation is done on the basis of finding the best robot structure, which while fulfilling a set of processbased performance requirements (End-effector motion parameters) should demonstrate better energy efficiency characteristics for applicability in emerging application areas of green robotics.

  • 8.
    Reddy Vemula, Bhanoday
    et al.
    Mälardalen University, School of Innovation, Design and Engineering, Innovation and Product Realisation.
    Spampinato, Giacomo
    Mälardalen University, School of Innovation, Design and Engineering, Innovation and Product Realisation.
    Hedelind, Mikael
    ABB Corporate Research, Västerås, Sweden.
    Feng, Xiaolong
    ABB Corporate Research, Västerås, Sweden.
    Brogårdh, Torgny
    ABB Robotics, Västerås, Sweden.
    Structural synthesis of 3DOF Articulated Manipulators based on Kinematic Evaluation2013In: 16th International Conference on Advanced Robotics ICAR 2013, 2013, p. Article number 6766460-Conference 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.

  • 9.
    Vemula, Bhanoday Reddy
    Mälardalen University, School of Innovation, Design and Engineering, Innovation and Product Realisation.
    Evaluation of robot structures: For applications that require high performance, safety and low energy consumption2015Licentiate thesis, comprehensive summary (Other academic)
    Abstract [en]

    Emerging application areas, such as safe robotics and green robotics, greatly enable the extension of robot automation to new application processes in different industry segments. Successful realization of industrial robots for such application areas is highly influenced by the type of robot structure that is adopted for the design. Therefore, researchers have recently pursued new robot structures with improved characteristics resulting in the current availability of a wide variety of potential robot structures from which to choose.

    Along with this, a difficult yet relevant challenge arises for robot designers to evaluate all the potential robot structures to select the best structure for new applications. This necessitates a need for tools or methods, which can aid robot designers or end-users to perform evaluation on robot structures in the early design stages. The research objective pursued in this thesis aims to address this need. To realize this objective, design knowledge must be advanced on ways or methods to quantitatively evaluate robot structures.

    This project adopts research through design as a research methodology, which is based on the action-reflection approach. In this thesis, experiential knowledge is gained on how to evaluate a set of two robot structures based on various requirements. This is done by carrying out simulation-based evaluation tasks on serial and parallelogram linkage articulated robot structures. Based on the acquired experiential knowledge, a simulation-based evaluation framework is proposed in this thesis, which can be used by robot designers or end-users to enhance the likelihood of selecting the most suitable robot structure for a new application process.

  • 10.
    Vemula, Bhanoday Reddy
    et al.
    Mälardalen University, School of Innovation, Design and Engineering, Innovation and Product Realisation.
    Spampinato, Giacomo
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Brogardh, Torgny
    ABB Robotics, Sweden.
    A methodology for comparing the dynamic efficiency of different kinematic robot structures2015In: 2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015, 2015, p. 1822-1827Conference 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.

  • 11.
    Vemula, Bhanoday Reddy
    et al.
    Mälardalen University, School of Innovation, Design and Engineering, Innovation and Product Realisation.
    Spampinato, Giacomo
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Brogårdh, T.
    ABB Robotics, Västerås, Sweden.
    Feng, X.
    ABB CRC, Västerås, Sweden .
    Stiffness based global indices for structural evaluation of anthropomorphic manipulators2014In: Joint 45th International Symposium on Robotics, ISR 2014 and 8th German Conference on Robotics, ROBOTIK 2014, 2014, p. 708-715Conference 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.

1 - 11 of 11
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