A design metric for safety assessment of industrial robot design suitable for power- and force-limited collaborative operation

摘要

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.