Measurement of a Vibration on a Robotic Vehicle

Klimenda, František; Cizek, Roman; Suszyński, Marcin

doi:10.3390/s22228649

Cited by 2 publications

(3 citation statements)

References 27 publications

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“…The project yielded significant quasi-static force and pressure limits for the human pain threshold. These limits have been incorporated into a technical specification (ISO/TS 15066:2016, supplement to ISO 10218-2) and an informative DGUV publication on the use of collaborative robots [11,12].…”

Section: Introductionmentioning

confidence: 99%

“…The high number of test subjects (approximately 100) allowed us to obtain approximately 9000 analysable pain threshold measurements. The relevant factors affecting the measurements were evaluated by statistical analysis of the measured data [10,11]. The project yielded significant quasi-static force and pressure limits for the human pain threshold.…”

Section: Introductionmentioning

confidence: 99%

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Force and Pressure Dependent Asymmetric Workspace Research of a Collaborative Robot and Human

Ponikelský,

Chalupa,

Černohlávek

et al. 2024

Symmetry

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This article discusses creating a methodology for the asymmetric measuring of values and processes of collision forces and pressures of the collaborative robot dependent on time. Furthermore, it verifies the usefulness of this methodology in practice by successfully performing the experimental measurement and verifying the possibility of using these results by analysing and stating the collaboration level for a robot of the given type. According to the suggested methodology, the measurement results are a specific output based on real measured data, which can be easily rated and can quickly determine the collaborative level of any robot. Measurements were aimed at determining the values of pressure and force with which the robot acts at certain speeds related to distance from the base. Due to the controlled symmetrical impact of the robot on the measuring device, the transfer of energy from the robot to the human body was guaranteed. In theoretical terms, this article primarily provides the assembly of the theoretical foundation of the collaborative environment between humans and robots, and a comprehensive overview of the possibilities of using the technical specification ISO/TS 15066:2016 when deploying a robot in collaboration with humans in a collaborative environment. This new information is highly valuable for both manufacturers and users of collaborative robots. The presented article analyses the possibilities of measuring collaboration and safety elements in cooperation with a robot. The most significant practical benefit is the presentation of a methodology for measuring robot collaboration and verifying its functionality by conducting experimental measurements of robot collaboration according to this methodology. The measurement was performed on a robot made by Universal Robots, model UR10. The measurement coordinates were stationed in a way to create a spatial measurement model. Boundary coordinates of the spatial model were as follows: [450; 200], [450; 500], [850; 200], and [850; 500]. Collisions were measured at 8 different speeds for each coordinate (20 mms−1, 50 mms−1, 100 mms−1, 200 mms−1, 250 mms−1, 300 mms−1, 350 mms−1, and 400 mms−1) to enable the observation of changes in accordance with speed. The measured values indicate a significant fact: the closer the collision is to the robot’s base, the higher the collision forces. An important aspect is that the measured values were only for speeds up to 400 mms−1, which is a very low value for industrial use to meet the desired cycle time. It can be stated with absolute certainty that speed has the greatest impact on collision force values. The speed of the collaborative robot arm can therefore be considered a limiting factor for use in industrial applications with a requirement of a short cycle time. Focusing on the results of the measured values, it can be stated that a new finding is the correct design of robotic movements in relation to possible contact with humans is crucial. The result of the measurement according to the proposed methodology is a specific output of realistically measured data, which can be easily evaluated and the level of collaboration of any robot can be quickly determined. The measured data will also serve as a basis for further processing and preparation of new simulation software. It will be possible to use the intended software for detecting and predetermining the safe asymmetric movements of the collaborative robot already at the stage of production preparations, unlike the method of measuring force and pressure on robots which can be used until the time of implementation into production. In the future, this software may also allow users of collaborative robots to easily and quickly evaluate the robots specified.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Force and Pressure Dependent Asymmetric Workspace Research of a Collaborative Robot and Human

Ponikelský,

Chalupa,

Černohlávek

et al. 2024

Symmetry

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“…Absolute vibrations describe the movement of the monitored body toward the Earth relative to us due to the base created (e.g., machine frame). Mechanical oscillation expresses a relationship [ 10 , 11 , 12 , 13 , 14 ]

where m —weight of the seismic mass of the sensor, y —deflection,

—velocity,

—acceleration, b —damping, k —stiffness coefficient, and F b —excitation force.…”

Section: Introductionmentioning

confidence: 99%

Vibration Measurements on a Six-Axis Collaborative Robotic Arm—Part I

Černohlávek

Klimenda

Houska

et al. 2023

Sensors

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This article deals with the design of a methodology for vibration and noise measurement on a six-axis collaborative robotic arm. A vibration and noise measurement methodology is proposed for six robot positions. In each position, measurements were performed under defined equal boundary conditions. The boundary conditions were related to the velocities of the joints and the load on the robotic arm. The second part of the article is an evaluation of the initial experimental results. So far, only the acceleration of the sixth joint of the robotic arm—Wrist 3—has been measured. The aim of the measurements was to verify if the methodology presented can be used for vibration measurements. From the evaluation of the experimental measurements, it was determined that the given methodology can be used for vibration measurements. It was also found that the acceleration is transmitted in the axes other than the axis of motion of the robotic arm. In future experiments, the vibration at the other joints of the robotic arm will be measured and the noise of the robotic arm will be measured to confirm whether the proposed methodology is indeed functional.

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Measurement of a Vibration on a Robotic Vehicle

Cited by 2 publications

References 27 publications

Force and Pressure Dependent Asymmetric Workspace Research of a Collaborative Robot and Human

Force and Pressure Dependent Asymmetric Workspace Research of a Collaborative Robot and Human

Vibration Measurements on a Six-Axis Collaborative Robotic Arm—Part I

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