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
| Identifer | oai:union.ndltd.org:DRESDEN/oai:qucosa:de:qucosa:81050 |
| Date | 09 December 2022 |
| Creators | Chen, Liang |
| Contributors | Berger, Maik, Berger, Maik, Winkler, Alexander, Winkler, Alexander, Technische Universität Chemnitz |
| Publisher | Universitätsverlag Chemnitz |
| Source Sets | Hochschulschriftenserver (HSSS) der SLUB Dresden |
| Language | English |
| Detected Language | English |
| Type | info:eu-repo/semantics/publishedVersion, doc-type:doctoralThesis, info:eu-repo/semantics/doctoralThesis, doc-type:Text |
| Rights | info:eu-repo/semantics/openAccess |
| Relation | urn:nbn:de:bsz:ch1-qucosa-179556, qucosa:20315 |
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