Robot-Dummy Crash Tests for Robot Safety Assessment
Robot-Dummy Crash Tests for Robot Safety Assessment
复制标题
用于机器人安全评估的机器人假人碰撞测试
DOI：
10.1109/robot.2007.363917
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发表时间：
2007
期刊：
影响因子：
--
通讯作者：
R. Schraft
中科院分区：
文献类型：
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作者：
S. Oberer;R. Schraft
新的技术和工艺增强了对直接人机交互的需求，以充分利用机器人的准确性和人类的适应性。因此，所涉及的机器人操纵器的危险潜力需要被最小化。必须设定限制，以便在机器人与人之间发生意外接触的情况下，仅对人造成可接受的伤害严重程度。目前工业机器人系统的标准化并没有充分解决人机密切合作的问题，从而限制了最新技术的实施。报告的研究的目的是证明机器人假人的影响评估的机器人系统的安全性能的可能性。在本文中，从汽车工业的方法进行了研究，其可转移性的情况下，机器人。在机器人与假人碰撞期间，对类似于人类在车祸中的运动学反应的拟人化测试设备（所谓的碰撞测试假人）进行分析。在LS-DYNA中实现了一个模拟设置，其中虚拟FAT ES-2代表操作员和工业机器人，以进行机器人手臂对头部和胸部的冲击。由此产生的头部损伤指数（HIC），粘性标准（VC）的胸部和耻骨联合峰值力（PSPF）的骨盆进行了讨论，显示其潜力和局限性的情况下，在机器人。
New technologies and processes enhance the need for direct human-robot-interaction, to fully exploit the potential of robots' accuracy and humans' adaptability. Therefore, the hazardous potential of the involved robot manipulator needs to be minimised. Limits must be set, so that only an acceptable severity of injury for the human will remain in case of an unintended contact between the robot and a human. Current standardisation for industrial robot systems does not sufficiently address the subject of close human-robot-cooperation, thereby restricting the implementation of the newest technology. The aim of the reported research is to demonstrate the possibilities to assess the safety performance of robot systems by robot-dummy impact evaluation. In this paper, methods from the automotive industry are investigated on their transferability to the situation in robotics. Anthropomorphic test devices, so called crash test dummies, that resemble the human's kinematic response in car crashes are analysed during a robot-dummy impact. A simulation setup with the dummy FAT ES-2 representing the operator and an industrial robot is realised within LS-DYNA to conduct impacts of the robot arm against the head and the chest. The resulting head injury index (HIC), the viscous criteria (VC) for the chest and the pubic symphysis peak force (PSPF) for the pelvis are discussed, showing their potential and limitations for the situation in robotics.