Abstract
The presented paper suggests a design method which seeks to identify the best scheduling of human robot collaborative (HRC) operations with respect to a required safety level. The human behavior along manufacturing scenarios is effectively forecasted through dedicated computer-aided tools. Consequently, this method stresses the usage of virtual environment to replicate both human postures and robot encumbrances over the manufacturing operations. Moreover, it proposes a safety index formulation for HRC systems based on the minimum distance between human and robot (H-R). As results, the approach returns the safety index for every possible combination of H-R operations. Subsequently, a scheduling algorithm suggests the operations sequence depending on the expected value of the safety index, providing an evaluation of the time needed to complete the process. The method is validated on surface control phase involved in post-processing of parts produced by laser powder bed fusion (L-PBF) Additive Manufacturing.
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References
ISO 10218-1:2011 Robots and robotic devices - Safety requirements for industrial robots - Part 1: Robots
ISO 10218-2:2011 Robots and robotic devices - Safety requirements for industrial robots - Part 2: Robot systems and integration
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Pini, F., Dalpadulo, E., Leali, F. (2020). CAD-Based Risk Assessment Approach for Safe Scheduling of HRC Operations for Parts Produced by Laser Powder Bed Fusion. In: Ahram, T., Karwowski, W., Vergnano, A., Leali, F., Taiar, R. (eds) Intelligent Human Systems Integration 2020. IHSI 2020. Advances in Intelligent Systems and Computing, vol 1131. Springer, Cham. https://doi.org/10.1007/978-3-030-39512-4_120
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DOI: https://doi.org/10.1007/978-3-030-39512-4_120
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