人間と共存するロボットの本質安全化-国際安全規格に基づく危険源除去のプロセス

抄録

An inherently safe human-symbiotic robot is investigated in accordance with the procedure of International Standard of Organization (ISO) of machine safety. The term “Inherently safe design” was defined, but systematic realization of the term has not been given clearly. In this paper, two ways of realization of inherent safety of the robot are investigated as inching control with a brake and impact relaxation by using smart suspension of Magnet-Rheological Fluid (MRF). Both can secure safe contact between human and the robot based on human compliant structure and tolerance to applied force and impact force.