This master’s thesis focuses on an in-depth examination of safety regulations in the context of robotic systems, particularly in the field of collaborative robotics. Throughout the thesis, the perspectives of the robot itself, the entire system and the critical end-effector that serves as a vital link between the machine and its environment will be closely examined. Ensuring the safety of all components within the robotic system, particularly in the context of human-robot interaction, is the main focus of this thesis. A significant part of the research will involve an in-depth analysis of various standards, including ISO 20218, ISO 10218-1, ISO 10218-2 and ISO 15066, which will provide valuable information into the design and integration of robotic end-effectors. In addition, specific limitations and additional precautions required for collaborative applications will be explored. In pursuing innovative ideas, the focus will be on promoting autonomy and using software such as Autodesk Inventor to design intricate geometries. Ultimately, the goal is to contribute to the development of safer collaborative robots and establish general guidelines for 3D printable end-effector components.
Questa tesi magistrale si concentra sull’approfondimento delle normative sulla sicurezza nel contesto dei sistemi robotici, in particolare nell’ambito della robotica collaborativa. Nel corso della tesi, saranno esaminate attentamente le prospettive del robot stesso, dell’intero sistema e dell’end-effector critico che funge da collegamento vitale tra la macchina e il suo ambiente circostante Garantire la sicurezza di tutti i componenti all’interno del sistema robotico, in particolare nel contesto dell’interazione tra uomo e robot, rappresenta l’obiettivo principale di questa tesi. Una parte significativa della ricerca comporterà un’analisi approfondita di varie normative, tra cui ISO 20218, ISO 10218-1, ISO 10218-2 e ISO 15066, che forniranno preziose intuizioni sulla progettazione e integrazione degli end-effector robotici. Inoltre, saranno esplorate le limitazioni specifiche e le precauzioni aggiuntive necessarie per le applicazioni collaborative. Nel perseguire idee innovative, si punterà a promuovere l’autonomia e a utilizzare software come Autodesk Inventor per progettare geometrie intricate. In definitiva, l’obiettivo è contribuire allo sviluppo di robot collaborativi più sicuri e stabilire linee guida generali per i componenti end-effector stampabili in 3D.
Sicurezza nei sistemi robotici collaborativi: Analisi approfondita degli standard e delle soluzioni per gli end-effector
TINTA, PAUL CATALIN
2022/2023
Abstract
This master’s thesis focuses on an in-depth examination of safety regulations in the context of robotic systems, particularly in the field of collaborative robotics. Throughout the thesis, the perspectives of the robot itself, the entire system and the critical end-effector that serves as a vital link between the machine and its environment will be closely examined. Ensuring the safety of all components within the robotic system, particularly in the context of human-robot interaction, is the main focus of this thesis. A significant part of the research will involve an in-depth analysis of various standards, including ISO 20218, ISO 10218-1, ISO 10218-2 and ISO 15066, which will provide valuable information into the design and integration of robotic end-effectors. In addition, specific limitations and additional precautions required for collaborative applications will be explored. In pursuing innovative ideas, the focus will be on promoting autonomy and using software such as Autodesk Inventor to design intricate geometries. Ultimately, the goal is to contribute to the development of safer collaborative robots and establish general guidelines for 3D printable end-effector components.È consentito all'utente scaricare e condividere i documenti disponibili a testo pieno in UNITESI UNIPV nel rispetto della licenza Creative Commons del tipo CC BY NC ND.
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https://hdl.handle.net/20.500.14239/17034