Example Application of ISO/TS 15066 to a Collaborative Assembly Scenario

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For further increased flexibility of high variant manufacturing, deployment of collaborative robots can be an economical proposition. Of particular present relevance is collaborative small parts assembly in a mixed environment with human workers and with robots operating according to the protective paradigm of power and force limiting. Safety legislation requires that one prepare an assessment of the associated risks for every system of machinery deployed in production facilities and for all relevant use cases it affords. Risk assessment for power-and-force-limited collaborative robots can be challenging, since experience is scarce and suitable guidance has only recently been published in ISO/TS 15066. This paper discusses how possible incidental contact events between the collaborative robot and human worker occurring in the course of the power-and-force-limited application are to be scrutinized for compatibility with tolerance limits for biomechanical loading.