Master Thesis - Hochschule Bonn-Rhein-Sieg

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6. Evaluating the safety Master Thesis Björn Ostermann page 100 of 126 6 Evaluating the safety of the system The primary goal of this master thesis was a feasibility study on realizing a working collaboration workplace, a workplace where human and robot work alongside each other. This goal has been reached, as described in previous chapters. The safety of the testing environment was verified by the application of a hold to run button and the reduced speed of the robot. Realizing such a workplace in praxis would require an integration of safety with a reduced inclusion of humans into the safety concept. For the integration of safety in robot workplaces there are several regulations to be considered. Apart from formal requirements those regulations also contain requirements on safety. Considering those safety requirements is made easier by applying appropriate standards. The main point of the developed approach is to ensure the safety distance between robot and human. The safety distance required by the given workplace is evaluated, based on the performance of its components and the developed program. Afterwards the reverse is computed, taking a desired safety distance and showing the necessary performance in the components. The results are compared, showing the state of development of the system and the necessary improvements. 6.1 Regulations When placing machinery on the market and/or putting it into service several regulations have to be applied. In the European Common Market requirements are laid down in directives for most products, so called harmonized products. When concentrating on the requirements of this robot working place, especially on its safety, the main European directives that have to be considered are: - Machinery Directive 98/37/EC – until 28.12.2009 - Machinery Directive 2006/42/EC – from 29.12.2009 - Pressure equipment Directive 97/23/EC - Low voltage Directive 2006/95/EC - EMC Directive 2004/108/EC Those directives have to be transposed into national law by the member states without changes. Thus it is possible for this project to relay on the European law, making the results of the project applicable in the whole common market. Considering the safety problems induced by the new approach on collaboration of human and robot, only the requirements of the machinery directive are important. The safety requirements of all other regulations are not relevant for this new concept. Their application causes no special problems that have not already been solved in today’s workplaces.
6. Evaluating the safety Master Thesis Björn Ostermann page 101 of 126 Since the realization in praxis of the presented concept will still need some time, the old machinery directive 98/37/EC can be disregarded in the considerations of this thesis. 6.1.1 Machinery Directive 2006/42/EC Robots, as all machinery, are included in the scope of the Machinery Directive (2006/42/EC). The requirements on the placing on the market of machinery are laid down in article 5. The safety requirements are formulated in article 5 a. “Article 5 Placing on the market and putting into service 1. Before placing machinery on the market and/or putting it into service, the manufacturer or his authorised representative shall: (a) ensure that it satisfies the relevant essential health and safety requirements set out in Annex I;” [66] The article 5 a refers to annex I, where the relevant essential health and safety requirements are formulated in detail. The main requirements, important for the new hazards induced by the presented solution in this thesis are: - 1.1.2. Principles of safety integration - 1.2.1. Safety and reliability of control systems - 1.2.2. Control devices - 1.2.3. Starting - 1.3.7. Risks related to moving parts The most important aspects of those requirements are as follows: � 1.1.2. Principles of safety integration (a) Machinery must be designed and constructed so that it is fitted for its function, and can be operated, adjusted and maintained without putting persons at risk when these operations are carried out under the conditions foreseen but also taking into account any reasonably foreseeable misuse thereof. […] (b) In selecting the most appropriate methods, the manufacturer or his authorised representative must apply the following principles, in the order given: — eliminate or reduce risks as far as possible (inherently safe machinery design and construction), — take the necessary protective measures in relation to risks that cannot be eliminated, — inform users of the residual risks […] � 1.2.1. Safety and reliability of control systems Control systems must be designed and constructed in such a way as to prevent hazardous situations from arising. […] — a fault in the hardware or the software of the control system does not lead to hazardous situations, — errors in the control system logic do not lead to hazardous situations […] � 1.2.2. Control devices […]
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Statutory Declaration Master Thesis
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Contents Master Thesis Björn Oster
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1. Introduction Master Thesis Björ
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2. Overview on human-robot Master T
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Master Thesis - Hochschule Bonn-Rhein-Sieg

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