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Towards an automated approach for safety risk mitigation in flexible use of collaborative robot applications with power and force limiting.
Thesis (MEng)--Stellenbosch University, 2023.
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| Format: | Thesis |
| Language: | en_ZA en_ZA |
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Stellenbosch : Stellenbosch University
2023
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| _version_ | 1867614026229350400 |
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| access_status_str | Open Access |
| author | Landmann, Timur |
| author2 | Louw, Louis |
| author_browse | Landmann, Timur Louw, Louis |
| author_facet | Louw, Louis Landmann, Timur |
| author_sort | Landmann, Timur |
| collection | Thesis |
| dc_rights_str_mv | Stellenbosch University |
| description | Thesis (MEng)--Stellenbosch University, 2023. |
| format | Thesis |
| id | oai:scholar.sun.ac.za:10019.1/127042 |
| institution | Stellenbosch University (South Africa) |
| language | en_ZA en_ZA |
| last_indexed | 2026-06-10T12:45:29.584Z |
| license_str | Other — see source repository |
| provenance_str_mv | Harvested via OAI-PMH from SUNScholar — Stellenbosch University Repository |
| publishDate | 2023 |
| publishDateRange | 2023 |
| publishDateSort | 2023 |
| publisher | Stellenbosch : Stellenbosch University |
| publisherStr | Stellenbosch : Stellenbosch University |
| record_format | dspace |
| source_str | SUNScholar — Stellenbosch University Repository |
| spelling | oai:scholar.sun.ac.za:10019.1/127042 Towards an automated approach for safety risk mitigation in flexible use of collaborative robot applications with power and force limiting. Landmann, Timur Louw, Louis Hummel, Vera Stellenbosch University. Faculty of Engineering. Dept. of Industrial Engineering. Flexible manufacturing systems Human-robot interaction Hazard mitigation Thesis (MEng)--Stellenbosch University, 2023. ENGLISH ABSTRACT: The demand on companies to manufacture more personalised products with ever smaller batch sizes results in a need for a flexible and reconfigurable design of production systems. One way to meet this need is to apply partial automation with human-robot collaboration. But the close interaction between humans and robots places high requirements on safety, so that the fulfilment of these safety requirements represents a bottleneck for the flexible use of collaborative robot applications. This research work explores a risk mitigation approach to enable flexible yet safe use of a collaborative robot application with power and force limitation. For this purpose, flexible use is first defined and then, through a qualitative content analysis of the relevant ISO/DIS 10218-2 standard, five requirement bundles of the standard that are affected by flexible use are worked out. These bundles are discussed and bundle-specific procedures on the mitigation of the associated risks of the bundles are defined. It turns out that while four of the five bundles can mostly be mitigated by limitations and assumptions, the requirement bundle concerning the issue of resulting pressure during a collision requires a technical solution in order to be able to implement the risk mitigation approach. Therefore, a method is developed that enables the prediction of a force-pressure curve of an object in the event of a collision with a human being. With the help of this method, the presented risk mitigation approach is then exemplary implemented and investigated. The investigation shows, that for the selected risk mitigation approach, the robot used has an unsatisfactory high collision force resulting in exceeding of the biomechanical pressure thresholds. It is therefore concluded, that the proposed approach with the used robot/work-piece configuration cannot guarantee safety of the human being. In order to reveal the gap between the observed robot sensitivity and the robot sensitivity needed by the risk mitigation approach, desired maximum collision forces were derived from empirical data. Finally, the developed method for pressure prediction is considered an important result of the work and further research based on the method is proposed. AFRIKAANS OPSOMMING: Die verwagting van maatskappye om meer persoonlike produkte met steeds kleiner bondelgroottes te vervaardig, lei tot ’n behoefte aan ’n buigsame en herkonfigureerbare ontwerp van produksiestelsels. Een manier om in hierdie behoefte te voorsien, is om gedeeltelike outomatisering toe te pas met mens-robot-samewerking. Die noue interaksie tussen mense en robotte stel egter hoë vereistes aan veiligheid, sodat die nakoming van hierdie veiligheidsvereistes ’n bottelnek verteenwoordig vir die buigsame gebruik van samewerkende robottoepassings. Hierdie navorsingswerk ondersoek ’n risikoversagtingsbenadering om buigsame dog veilige gebruik van ’n samewerkende robottoepassing met krag- en kragbeperking moontlik te maak. Vir hierdie doel word buigsame gebruik eers gedefinieer en dan, deur middel van ’n kwalitatiewe inhoudsontleding van die betrokke ISO/DIS 10218-2-standaard, word vyf vereiste-bundels van die standaard wat deur buigsame gebruik geraak word, uitgewerk. Hierdie bundels word bespreek en bundelspesifieke prosedures oor die versagting van die gepaardgaande risiko’s van die bundels word gedefinieer. Dit blyk dat alhoewel vier van die vyf bundels meestal versag kan word deur beperkings en aannames, die vereiste bundel met betrekking tot die kwessie van gevolglike druk tydens ’n botsing ’n tegniese oplossing vereis om die risikoversagtende benadering te kan implementeer. Daarom word ’n metode ontwikkel wat die voorspelling van krag-druk-krommes van ’n voorwerp moontlik maak in die geval van ’n botsing met ’n mens. Met behulp van hierdie metode word die voorgestelde risikoversagtingsbenadering dan vir validering geïmplementeer en ondersoek. Die ondersoek toon dat die robot wat gebruik word vir die geselekteerde risikoversagtingsbenadering ’n onbevredigende hoë botsingskrag het wat lei tot oorskryding van die biomeganiese drukdrempels. Daar word dus tot die gevolgtrekking gekom dat die voorgestelde benadering met die gebruikte robot/werkstuk-konfigurasie nie die veiligheid van die mens kan waarborg nie. Ten einde die gaping tussen die waargenome robotsensitiwiteit en die robotsensitiwiteit wat deur die risikoversagtingsbenadering benodig word, te openbaar, is verlangde maksimum botsingskragte uit empiriese data afgelei. Laastens word die ontwikkelde metode vir drukvoorspelling as ’n belangrike resultaat van die werk beskou en verdere navorsing gebaseer op die metode word voorgestel. Thesis (MEng)--Stellenbosch University, 2023. 2023-02-08T18:28:04Z 2023-05-18T07:01:29Z 2023-02-08T18:28:04Z 2023-05-18T07:01:29Z 2023-03 Thesis http://hdl.handle.net/10019.1/127042 en_ZA en_ZA Stellenbosch University ix, 98 pages : illustrations. application/pdf Stellenbosch : Stellenbosch University |
| spellingShingle | Flexible manufacturing systems Human-robot interaction Hazard mitigation Landmann, Timur Towards an automated approach for safety risk mitigation in flexible use of collaborative robot applications with power and force limiting. |
| title | Towards an automated approach for safety risk mitigation in flexible use of collaborative robot applications with power and force limiting. |
| title_full | Towards an automated approach for safety risk mitigation in flexible use of collaborative robot applications with power and force limiting. |
| title_fullStr | Towards an automated approach for safety risk mitigation in flexible use of collaborative robot applications with power and force limiting. |
| title_full_unstemmed | Towards an automated approach for safety risk mitigation in flexible use of collaborative robot applications with power and force limiting. |
| title_short | Towards an automated approach for safety risk mitigation in flexible use of collaborative robot applications with power and force limiting. |
| title_sort | towards an automated approach for safety risk mitigation in flexible use of collaborative robot applications with power and force limiting |
| topic | Flexible manufacturing systems Human-robot interaction Hazard mitigation |
| url | http://hdl.handle.net/10019.1/127042 |
| work_keys_str_mv | AT landmanntimur towardsanautomatedapproachforsafetyriskmitigationinflexibleuseofcollaborativerobotapplicationswithpowerandforcelimiting |