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Design for Human-Robot Interaction
Design for Human-Robot Interaction
The level of interaction or avoidance necessary between humans and robots for any particular application will greatly determine the layout of a robotic work cell
Generally-speaking, there are five different types of robotic cells, defining robot-human interactivity (in increasing-order of human interactivity):
Fenced Cell. Â Little/no human-robot interaction or proximity
Example: Heavy machinery operations or tasks where a robot wields dangerous tools (like welding or cutting).
Coexisting Cell. Little/no human-robot interaction, but close proximity
Example: A robot might be sorting products on one side of a room, while a human is packing those products on another side.
Sequential Collaboration Cell. Robots and humans performing alternating steps of a process, with close proximity but still isolated from one another
Example: A robot might apply adhesive to an item, and then a human might align and assemble parts that need the adhesive.
Cooperative Cell. Robots and humans performing work on the same process step at the same time.
Example: A robot might hold and rotate a large, heavy component in place while a human technician performs detailed work on it, like wiring or fine assembly.
Responsive Collaboration Cell. Robots responding in real-time to human actions, decisions, or even gestures. The interaction is dynamic and adaptive.
Example: A surgeon and a robotic arm working together in a surgery, where the robot assists and adjusts based on the surgeon's movements or commands. (Doctor: "Scalpel!", Robot: Hands surgeon scalpel)
Robot Cell Setup
Robot Cell Setup
The key difference between cobots and industrial robots is not that cobots require less safety mechanisms, but that cobots integrate several safety mechanisms that are otherwise external to industrial robots.
THE LEVEL OF SAFETY FOR EVERY ROBOT CELL SHOULD ALWAYS BE THE SAME, REGARDLESS OF TYPE OF ROBOT OR APPLICATION.
Which one of the five (5) robotic cell design types listed above you are working with will determine the specific types of hardware needed to meet the safety threshold necessary to be fully-safe:
1. Fenced Cells
Safety fences/barriers: Physically separate humans from the robot's work area.
Safety interlocked gates: Ensure the robot halts operation when the gate is open.
Emergency stop buttons: Must be easily accessible from both outside and inside the fenced area.
Light curtains: Stop the robot when the light beam is interrupted, as an additional safety measure.
Warning lights and sounds: Notify workers when the robot is active.
2. Coexisting Cells
Presence sensors: Detect the presence of humans near the robot.
Slow-motion operation: Robots reduce their speed when humans are detected nearby.
Safety-rated monitored stop: Robot can be programmed to stop when a human is detected nearby.
Warning lights and sounds: To alert workers about the robot's operational status.
3. Sequential Collaboration Cells
Safety zones: These can be set up using laser scanners or other sensors. The robot only operates when a human is outside these zones.
Presence sensors: These can pause robot operation if a human is detected within a specified range.
Hand guiding devices: Allow for a human to guide or teach the robot's motion in a safe manner.
Safety-rated soft stops: Ensuring the robot stops gently if an unexpected obstacle is detected.
4. Cooperative Cells
Force and torque sensors: Ensure the robot does not exert excessive force, especially when in contact with a human.
Safety-rated speed and separation monitoring: Ensure the robot and human maintain safe distances and speeds relative to each other.
Adaptive speed control: Robot adjusts its speed based on proximity to a human.
Continuous human presence detection: Ensures the robot is aware of human position and can adjust its actions accordingly.
5. Responsive Collaboration Cells
Real-time human tracking: Use of cameras, sensors, or wearable devices to precisely track human movements.
Highly sensitive force and torque sensors: Ensure the robot can quickly respond to unexpected contact or resistance.
Dynamic safety zones: Automatically adjusted safety zones based on human movement and robot tasks.
Quick stop mechanisms: For immediate halt of robot operations in case of unexpected scenarios.
Haptic feedback systems: Allows the human user to "feel" what the robot is doing, especially useful in medical or delicate operations.
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