The Workplace Space Configuration Design and the Establishment of Minimum Acceptable Interactive Distancesin Human-Robot Collaborative Environment

• Main Authors: CHUANG, YU-HSUAN, 莊于萱
• Other Authors: TANG, GUO-HAO
• Format: Others
• Language: zh-TW
• Published: 2017
• Online Access: http://ndltd.ncl.edu.tw/handle/s787f3

碩士 === 逢甲大學 === 工業工程與系統管理學系 === 105 === One of the core technologies in the intelligent manufacturing system is the robot. In the Industrial 4.0, the collaboration between man and robot is becoming more and more common. In this study, human and robot collaborative assembly operations are divided into two parts, one is the design of the workplace space configuration in the assembly work, and the other is the establishment of minimum acceptable interactive distances. In order to improve the efficiency of human and robot collaborative assembly and reduce the fatigue of the operator in a long time work. This paper explored the design of the workplace space between the robot and the operator in the Human-Robot collaborative enviroment. Subjectively measure the degree of preference of each workplace space configuration. Objective measurement of the rotation angle and running time of the robotic arm of each workplace space configuration. In traditional automation, the robot and the operator work separately and use a fence to protect the safety of the operator. In the intelligent manufacturing systems, the emerging cooperation robots realize the possibility of co-existence of robots and human operators as well as sharing the same work area. Thus, how to ensure the sense of safety of human operators in the human-robot cooperative environment becomes an important issue. This paper explored the subjective minimum acceptable distance between a human operator and a cooperation robot when performing tasks of various interactive operations in a human-robot collaboration environment. The experiment is divided into robotic arm in static measurement and dynamic measurement. Experimental results suggested that in the workplace space configuration, the robot position and the path has a significant symmetry. Most people like the design is the robot position right front and the path counterclockwise and the robot position left front and the path clockwise. The establishment of minimum acceptable interactive distances can be static measurement results. Human-Robot collaboration should be avoided by designing the robot arm to move the path across the head and the vertical or longitudinal path. At the higher speed, the distance should be kept farther away. To reduce the psychological load of the operator when collaborating with robot.