SOFTEMA ist ein Software-Assistent zur Projektierung und Dokumentation sicherheitsbezogener Anwendersoftware an Maschinen. SOFTEMA erleichtert die Entwicklung und Dokumentation sicherheitsbezogener Anwendersoftware (SRASW) durch eine strukturierte und normgerechte Methode. Eine aktuelle Erweiterung, der Codevisualisierer, stellt Sicherheitslogiken grafisch dar, während der ebenfalls neue Codegenerator automatisch Programmcode aus den in SOFTEMA Projektdateien definierten Sicherheitsfunktionen generiert.

In the automotive industry, the Safety Function-FMEA according to ISO 26262 and its application to functional safety relevant systems is a well-established process in the form of Automotive Safety Integrity Levels (ASILs). These represent the failure mitigation that must be applied to ensure an acceptable residual risk of malfunctioning behaviour. The DIN EN ISO 13849 (ISO 13849) already describes a process to reduce risks for machines which starts with a Hazard And Risk Analysis (HARA) as described in DIN EN ISO 12100 and concludes with the Safety Requirements Specification (SRS). The SRS is a functional and technical safety concept defining requirements and guidelines to make sure the design conforms to defined safety goals. ISO 13849 lists important faults and failures for various technologies. The defined Safety Functions (SFs) can be classified in corresponding categories that lead to the particular hardware/system structure. This applies to mechatronic systems consisting of at least one sensor, one control unit and one actuator to monitor the system and effect a response in case of failure. Compared to the methods described in ISO 13849, the Safety Function-FMEA allows systematic identification of additional failures resulting from combinations of effects, rather than only listing the main failure causes. Based on the complexity of the machines it is highly recommended to perform a Safety Function-FMEA as a complementary method to assess and improve the overall safety of machinery.

This thesis provides a systematic guideline for evaluating, integrating and designing the collaborative end effector system associated with commercially available collaborative robots (cobots). On the basis of ISO/TS 15066:2016, customers’ demands are categorised as a macro demand framework and micro demand variables, which are parameterised and hierarchised. By analysing these parameters, the collaborative degree is determined to correlate the hazards with protection measures, which can demonstrate the collaborative safety level transparently. After that, the safety protection measures are specifically proposed corresponding to the potential risks. Finally, an industrial application is evaluated, a novel adapter utilised on the UR5 cobot is illustrated, and its characteristics for the collaborative operation are described.:1 Introduction 2 Robotic end effector in Assembly and Handling 3 Concept and Definition of Collaboration 4 Statement of the academic purpose and methodology 5 Guideline and Methodology for designing the Active Lightweight End-effector (ALE) for collaborative robots 6 Performance demand d4): multiplicity and versatility of end effector 7 A safety monitoring end effector (Adapter) for collaborative operations 8 A practical study of collaborative integration based on collaborative degree 9 Conclusion Appendix / Diese Arbeit liefert einen systematischen Leitfaden für die Bewertung, Integration und Gestaltung des kollaborierenden Endeffektorsystems in Verbindung mit kommerziell verfügbaren kollaborativen Robotern (Kobots). Auf der Grundlage der ISO/TS 15066:2016 werden die Anforderungen der Kunden in einen Makro-Bedarfsrahmen und Mikro-Bedarfsvariablen kategorisiert, die parametrisiert und hierarchisiert werden. Durch die Analyse dieser Parameter wird der Kollaborationsgrad ermittelt, um die Gefährdungen mit Schutzmaßnahmen zu korrelieren, die die kollaborierende Sicherheitsstufe transparent darstellen können. Danach werden die Schutzmaßnahmen entsprechend den potenziellen Risiken vorgeschlagen. Schließlich wird ein industrieller Anwendungsfall bewertet, ein neuartiger Adapter für den Einsatz an einem Roboter UR5 erläutert und dessen Kenndaten für den kollaborierenden Betrieb beschrieben.:1 Introduction 2 Robotic end effector in Assembly and Handling 3 Concept and Definition of Collaboration 4 Statement of the academic purpose and methodology 5 Guideline and Methodology for designing the Active Lightweight End-effector (ALE) for collaborative robots 6 Performance demand d4): multiplicity and versatility of end effector 7 A safety monitoring end effector (Adapter) for collaborative operations 8 A practical study of collaborative integration based on collaborative degree 9 Conclusion Appendix