Vemula Bhanoday, Matthias Björn, Ahmad Aftab
1School of Innovation, Design and Technology, Mälardalen University, Västerås, Sweden.
ABB Corporate Research Center Germany, Ladenburg, Germany.
Int J Intell Robot Appl. 2018;2(2):226-234. doi: 10.1007/s41315-018-0055-9. Epub 2018 Apr 10.
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.
本研究提出了一种基于最大功率通量密度的新型设计指标，用于评估机器人操纵器与人体区域之间瞬态物理接触的严重程度。这种偶然的瞬态接触可能发生在功率和力限制型协作应用过程中。所提出的指标旨在用于机器人操纵器的设计与开发以及制造应用的设计。这种安全指标还可以通过对由于接近人类同事而可能发生的即将碰撞进行快速风险评估，来帮助控制制造操作期间机器人的速度。此外，本研究通过将机器人与人体区域之间的物理冲击表示为线性弹簧 - 阻尼模型做出了贡献。分析了恢复系数和人体组织弹性对碰撞过程中接触持续时间和接触面积的影响。利用所展示的分析模型，研究了人机工业机器人操纵器碰撞过程中功率通量密度相对于机器人有效质量、速度以及几何和阻尼系数的依赖性。
