Post on 16-Aug-2021
Data acquisition
& Evaluation
Biofidel
measuring system
Theory
GTE Industrieelektronik
HRC proven
safety
Data acquisition
& Evaluation
Biofidel
measuring system
Theory
GTE Industrieelektronik
measurement technology and methods for the
validation of a HRC application
Measuring system for collaborative robots
Dr. Daniel Meixner
GTE Industrieelektronik GmbH
Data acquisition
& Evaluation
Biofidel
measuring system
Theory
Theory
HRC
Data acquisition
& Evaluation
Biofidel
measuring system
Theory
Theory
HRC
Power and
force limiting
Data acquisition
& Evaluation
Biofidel
measuring system
Theory
Theory
Literature
▪ DIN EN ISO 10218
▪ ISO / TS 15066
▪ RIA TR R15.806-2018
▪ DGUV Information
FB-HM 080
Data acquisition
& Evaluation
Biofidel
measuring system
Theory
Theory
Literature
▪ DIN EN ISO 10218
▪ ISO / TS 15066
▪ RIA TR R15.806-2018
▪ DGUV Information
FB-HM 080
thresholds
Data acquisition
& Evaluation
Biofidel
measuring system
Theory
Theory
Literature
▪ DIN EN ISO 10218
▪ ISO / TS 15066
▪ RIA TR R15.806-2018
▪ DGUV Information
FB-HM 080
thresholds
Data acquisition
& Evaluation
Biofidel
measuring system
Theory
Theory
Literature
▪ DIN EN ISO 10218
▪ ISO / TS 15066
▪ RIA TR R15.806-2018
▪ DGUV Information
FB-HM 080
thresholds
Data acquisition
& Evaluation
Biofidel
measuring system
Theory
Theory
Thresholds
PPT PTL S0 S1 S2
onset
of pain
Pain
toleranceInjury
occurrence
reversible
injury
irreversible
injury
Data acquisition
& Evaluation
Biofidel
measuring system
Theory
Theory
Thresholds
PPT PTL S0 S1 S2
onset
of pain
Pain
toleranceInjury
occurrence
reversible
injury
irreversible
injury
Thresholds
ISO/TS 15066
Data acquisition
& Evaluation
Biofidel
measuring system
Theory
Theory
Thresholds
Data acquisition
& Evaluation
Biofidel
measuring system
Theory
Theory
Thresholds
• Blind
• Increasing force 2 N/s or 5 N/s
• Pain Trigger and release by switch
Data acquisition
& Evaluation
Biofidel
measuring system
Theory
Theory
Thresholds
Data acquisition
& Evaluation
Biofidel
measuring system
Theory
Theory
Thresholds
Head Belly Leg Hand … … …
130110
220
140
Data acquisition
& Evaluation
Biofidel
measuring system
Theory
Theory
Literature
▪ DIN EN ISO 10218
▪ ISO / TS 15066
▪ RIA TR R15.806-2018
▪ DGUV Information
FB-HM 080
Thresholds
Force Pressure
Data acquisition
& Evaluation
Biofidel
measuring system
Theory
Theory
Force & pressure
Force Pressure
Data acquisition
& Evaluation
Biofidel
measuring system
Theory
Theory
Force & pressure
-20
0
20
40
60
80
100
120
0 0.5 1 1.5
forc
e[N
]
time [s]
Force Pressure
Data acquisition
& Evaluation
Biofidel
measuring system
Theory
Theory
Force & pressure
-20
0
20
40
60
80
100
120
0 0.5 1 1.5
forc
e[N
]
time [s]
Force Pressure
Data acquisition
& Evaluation
Biofidel
measuring system
Theory
Measuring system
Biofidel measuring system
Measurement of collision forces and pressures
According to FB HM 080 & RIA TR R15.806-2018
Data acquisition
& Evaluation
Biofidel
measuring system
Theory
Substitution
Data acquisition
& Evaluation
Biofidel
measuring system
Theory
Substitution
Data acquisition
& Evaluation
Biofidel
measuring system
Theory
Substitution
Data acquisition
& Evaluation
Biofidel
measuring system
Theory
Substitution
Data acquisition
& Evaluation
Biofidel
measuring system
Theory
Substitution
Data acquisition
& Evaluation
Biofidel
measuring system
Theory
Measuring system
Measuring system
Data acquisition
& Evaluation
Biofidel
measuring system
Theory
Measuring system
Measuring system
Force
Data acquisition
& Evaluation
Biofidel
measuring system
Theory
Measuring system
Measuring system
Force
Spring
Data acquisition
& Evaluation
Biofidel
measuring system
Theory
Measuring system
Measuring system
Force
Spring
Damping
Data acquisition
& Evaluation
Biofidel
measuring system
Theory
Measuring system
Measuring system
Pressure
Force
Spring
Damping
Data acquisition
& Evaluation
Biofidel
measuring system
Theory
Measuring system
Measuring system
Pressure
Force
Spring
Damping
Data acquisition
& Evaluation
Biofidel
measuring system
Theory
Measuring system
Measuring set up according FB-HM 080 & RIA TR R.15.806-2018
Data acquisition
& Evaluation
Biofidel
measuring system
Theory
Measuring system
Spring
0
50
100
150
200
250
300
Maximum force
FO
RC
E [
N]
Without Spring 75 N/mm 10 N/mm
Data acquisition
& Evaluation
Biofidel
measuring system
Theory
Measuring system
Spring
0
50
100
150
200
250
300
Maximum force
FO
RC
E [
N]
Without Spring 75 N/mm 10 N/mm
difference depends on the
robot type and its movement
Data acquisition
& Evaluation
Biofidel
measuring system
Theory
Measuring system
Spring
0
50
100
150
200
250
300
Maximum force
FO
RC
E [
N]
Without Spring 75 N/mm 10 N/mm
difference depends on the
robot type and its movement
According to FB HM 080possible to use harder spring
Data acquisition
& Evaluation
Biofidel
measuring system
Theory
Measuring system
Damping element
Pressure distribution
Data acquisition
& Evaluation
Biofidel
measuring system
Theory
Measuring system
Damping element
Pressure distribution
without
Data acquisition
& Evaluation
Biofidel
measuring system
Theory
Measuring system
Damping element
Pressure distribution
without
230
N/cm²
Data acquisition
& Evaluation
Biofidel
measuring system
Theory
Measuring system
Damping element
Pressure distribution
without
230
N/cm²
with
73 N/cm²
Data acquisition
& Evaluation
Biofidel
measuring system
Theory
Measuring system
Damping element
Pressure distribution
without
230
N/cm²
with
73 N/cm²
Data acquisition
& Evaluation
Biofidel
measuring system
Theory
Measuring system
Substitution
Data acquisition
& Evaluation
Biofidel
measuring system
Theory
Measuring system
Substitution
13 Points
Data acquisition
& Evaluation
Biofidel
measuring system
Theory
Substitution
40 N/mm70°
30 N/mm70°
10 N/mm70°
75 N/mm70°
40 N/mm30°
30 N/mm30°
10 N/mm30°
75 N/mm30°
40 N/mm10°
30 N/mm10°
10 N/mm10°
75 N/mm10°
70 ° 30 ° 10 °
75 N/mm
40 N/mm
30 N/mm
10 N/mm
Data acquisition
& Evaluation
Biofidel
measuring system
Theory
Substitution
40 N/mm70°
30 N/mm70°
10 N/mm70°
75 N/mm70°
40 N/mm30°
30 N/mm30°
10 N/mm30°
75 N/mm30°
40 N/mm10°
30 N/mm10°
10 N/mm10°
75 N/mm10°
70 ° 30 ° 10 °
75 N/mm
40 N/mm
30 N/mm
10 N/mm
Data acquisition
& Evaluation
Biofidel
measuring system
Theory
Substitution
40 N/mm70°
30 N/mm70°
10 N/mm70°
75 N/mm70°
40 N/mm30°
30 N/mm30°
10 N/mm30°
75 N/mm30°
40 N/mm10°
30 N/mm10°
10 N/mm10°
75 N/mm10°
70 ° 30 ° 10 °
75 N/mm
40 N/mm
30 N/mm
10 N/mm
Data acquisition
& Evaluation
Biofidel
measuring system
Theory
Substitution
40 N/mm70°
30 N/mm70°
10 N/mm70°
75 N/mm70°
40 N/mm30°
30 N/mm30°
10 N/mm30°
75 N/mm30°
40 N/mm10°
30 N/mm10°
10 N/mm10°
75 N/mm10°
70 ° 30 ° 10 °
75 N/mm
40 N/mm
30 N/mm
10 N/mm
Data acquisition
& Evaluation
Biofidel
measuring system
Theory
Substitution
Data acquisition
& Evaluation
Biofidel
measuring system
Theory
Data acquisition
Evaluation
0
50
100
150
200
250
300
350
400
450
500
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
Fo
rce
[N
]
time [s]
Data acquisition
& Evaluation
Biofidel
measuring system
Theory
Data acquisition
Evaluation
0
50
100
150
200
250
300
350
400
450
500
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
Fo
rce
[N
]
time [s]
Thresholds TS15066
Data acquisition
& Evaluation
Biofidel
measuring system
Theory
Data acquisition
Evaluation
0
50
100
150
200
250
300
350
400
450
500
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
Fo
rce
[N
]
time [s]
Forbidden values
Data acquisition
& Evaluation
Biofidel
measuring system
Theory
Data acquisition
Evaluation – pressure
gripper cylinder sphere
Data acquisition
& Evaluation
Biofidel
measuring system
Theory
Data acquisition
Evaluation – pressure
0
100
200
300
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
Pre
ssu
re[N
/cm
²]
time [s]
Data acquisition
& Evaluation
Biofidel
measuring system
Theory
Data acquisition
Evaluation – pressure
0
100
200
300
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
Pre
ssu
re[N
/cm
²]
time [s]
Data acquisition
& Evaluation
Biofidel
measuring system
Theory
Data acquisition
Evaluation – pressure
0
100
200
300
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
Pre
ssu
re[N
/cm
²]
time [s]
Data acquisition
& Evaluation
Biofidel
measuring system
Theory
Theory
Collision points
Which collision points within an HRC
application needs to be measured?
Data acquisition
& Evaluation
Biofidel
measuring system
Theory
Theory
Collision points
Realistic collision points!
Data acquisition
& Evaluation
Biofidel
measuring system
Theory
Theory
Collision points
Data acquisition
& Evaluation
Biofidel
measuring system
Theory
Theory
Collision points
Data acquisition
& Evaluation
Biofidel
measuring system
Theory
Measuring system
System
Data acquisition
& Evaluation
Biofidel
measuring system
Theory
Measuring system
System
2016
2019
Data acquisition
& Evaluation
Biofidel
measuring system
Theory
GTE Industrieelektronik
Thank you for your attention
Data acquisition
& Evaluation
Biofidel
measuring system
Theory
Messung
FB HM 080
Data acquisition
& Evaluation
Biofidel
measuring system
Theory
Freier Stoß
Data acquisition
& Evaluation
Biofidel
measuring system
Theory
Freier Stoß
Messwert
Data acquisition
& Evaluation
Biofidel
measuring system
Theory
Messungen
• Static measurement • Free measurement
roboter roboter movement
Data acquisition
& Evaluation
Biofidel
measuring system
Theory
Messungen
-200
0
200
400
600
800
1000
1200
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Kra
ft [
N]
Zeit [s]
Fanuc CR35iA Kollision
statische Messung Schlitten Messung
static
free
Data acquisition
& Evaluation
Biofidel
measuring system
Theory
Messungen
-200
0
200
400
600
800
1000
1200
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Kra
ft [
N]
Zeit [s]
Fanuc CR35iA Kollision
statische Messung Schlitten Messung
236N
274N