Collaborative manufacturing with physical human-robot interaction
Collaborative manufacturing with physical human-robot interaction
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DOI：
10.1016/j.rcim.2015.12.007
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发表时间：
2016-08-01
影响因子：
10.4
通讯作者：
Fraisse, Philippe
中科院分区：
文献类型：
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作者：
Cherubini, Andrea;Passama, Robin;Fraisse, Philippe
虽然工业协作机器人的概念可以追溯到1999年，但目前大多数混合人机装配系统仅仅是重量补偿器。在这里，我们提出了一个协作的人-机器人制造单元的等速关节装配的发展结果。机器人在装配过程中交替主动和被动行为，在第一种情况下减轻操作员的负担，在第二种情况下满足他/她的需求。我们的方法可以成功地管理机器人和人类之间，机器人和环境之间的直接物理接触。此外，它可以应用于工业中常见的标准位置（而不是扭矩）控制机器人。该方法在一系列的装配实验中得到了验证。减少了人类的工作量，降低了拉伤的风险。此外，一个完整的风险分析表明，拟议的设置是符合安全标准，并可以通过认证。(C)2015爱思唯尔有限公司版权所有。
Although the concept of industrial cobots dates back to 1999, most present day hybrid human-machine assembly systems are merely weight compensators. Here, we present results on the development of a collaborative human-robot manufacturing cell for homokinetic joint assembly. The robot alternates active and passive behaviours during assembly, to lighten the burden on the operator in the first case, and to comply to his/her needs in the latter. Our approach can successfully manage direct physical contact between robot and human, and between robot and environment. Furthermore, it can be applied to standard position (and not torque) controlled robots, common in the industry. The approach is validated in a series of assembly experiments. The human workload is reduced, diminishing the risk of strain injuries. Besides, a complete risk analysis indicates that the proposed setup is compatible with the safety standards, and could be certified. (C) 2015 Elsevier Ltd. All rights reserved.