This research presents a novel design metric based on maximum power flux density for the assessment of the severity of a transient physical contact between a robot manipulator and a human body region. Such incidental transient contact can occur in the course of a collaborative application of the power- and force-limiting type. The proposed metric is intended for the design and development of the robot manipulator as well as for the design of manufacturing applications. Such safety metric can also aid in controlling the robot’s speeds during manufacturing operations by carrying out rapid risk assessments of impending collisions that could arise due to the proximity to the human co-worker. Furthermore, this study contributes by expressing the physical impact between the robot and the human body region as a linear spring-damper model. The influence of the restitution coefficient and the elasticity of the human tissues on the contact duration and contact area during the collision is analysed. With the demonstrated analysis model, the dependence of the power flux density with respect to the robot’s effective mass, speed, and geometrical and damping coefficients during the human-industrial robot manipulator collision process is investigated.

中文翻译：

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用于工业机器人设计安全评估的一种设计度量标准，适用于功率和力受限的协作操作。

这项研究提出了一种基于最大功率通量密度的新颖设计指标，用于评估机器人操纵器与人体区域之间瞬态物理接触的严重性。这种偶然的瞬时接触可在功率和力限制类型的协作应用过程中发生。拟议的度量标准旨在用于机器人操纵器的设计和开发以及制造应用程序的设计。这样的安全性度量还可以通过对由于接近人类同事而可能发生的即将发生的碰撞进行快速风险评估，从而在制造操作过程中帮助控制机器人的速度。此外，这项研究通过将机器人与人体区域之间的物理影响表示为线性弹簧阻尼器模型而做出了贡献。分析了恢复系数和人体组织弹性对碰撞过程中接触持续时间和接触面积的影响。利用已证明的分析模型，研究了在工业机器人操纵器碰撞过程中功率通量密度与机器人有效质量，速度以及几何阻尼系数的相关性。