Research On Safety Risk Assessment And Collaboration Strategy Of Industrial Tri-Co Robots

Industrial robots(IRs)have been widely used in manufacturing field,the combination of industrial tri-co robots and human in shared workplace has become one of the most popular research directions in industrial robots and intelligent manufacturing in recent years.When IRs and human work together closely,one foremost goal is to ensure the safety of the collaborators.In practical applications,most IRs do not have the ability to cooperate or have only passive emergency response such as stop immediately.Once a safe emergency stop occurs,a lot of time will be spent to resume production,which cannot meet the requirements of human-robot tri-co manufacturing for production efficiency.In order to achieve efficient human-robot tri-co manufacturing,it is necessary to evaluate the real-time risk of industrial tri-co robots,so that operators can have an intuitive understanding of the safety of shared workspaces,and enable robots to have decision-making ability so as to respond actively to ensure personnel safety.Regarding the issue above,this paper focuses on the safety risk assessment methods and response strategies of industrial tri-co robots in the manufacturing field.The main works are organized as follows:(1)Research on dynamic risk assessment methods for industrial tri-co robots.For the problems that the factors affecting the safety of tri-co robots in the manufacturing environment are complex and diverse,the data is classified and normalized,and an evaluation index system is established according to the international safety standards and dynamic response requirements.Design a workspace-detect system and complete the fusion of robot space coordinates and operator position data.An improved dynamic risk assessment method is proposed to quantitatively evaluate the risk of joints in robot motion in joint space.(2)Research on the active cooperative response strategy of industrial tri-co robots.The tri-co robot cooperation model is proposed based on the dynamic risk assessment results.The robot workspace is divided according to the dynamic risk assessment quantitative result,different response strategy is adopted for different regions.An active response strategy based on hazard index is proposed to solve the problem of personnel safety in hazardous areas.The collision avoidance path planning and smoothing processing are performed in joint space,simulation verification and analysis are also performed.(3)Design and implement a tri-co robot security system based on dynamic risk assessment.The system implements multi-source data perception and real-time security assessment for a human-robot collaboration unit with a specific manufacturing task.Visualize the risk of the current workspace space and respond positively to possible dangers to ensure the safety of personnel.The system enables the robot to have the ability of risk analysis and safety ensuring.Visualization technology based on augmented reality visualizes dynamic security areas,making the completion of collaborative tasks safer and more efficient.