On Safe Collaborative Assembly with Large Industrial Robots.

• Superior document: Linköping Studies in Science and Technology. Dissertations Series ; v.2026
• Author: Gopinath, Varun.
• Place / Publishing House: Linköping : : Linkopings Universitet,, 2019.; {copy}2019.
• Year of Publication: 2019
• Edition: 1st ed.
• Language: English
• Series: Linköping Studies in Science and Technology. Dissertations Series
• Physical Description: 1 online resource (100 pages)

Table of Contents

Abstract -- Acknowledgements -- Appended Papers -- Contents -- Definitions -- Acronyms -- 1 Introduction -- 1.1 Background -- 1.2 Manufacturing Agenda -- 1.3 Industrial Robots -- 1.4 Automotive Assembly Plant -- 1.5 Aim &amp -- Research Questions -- 1.5.1 Delimitations -- 1.6 Thesis Outline -- 1.6.1 Summary of Appended Papers -- 1.7 A Brief History of Industrial Robots &amp -- Safety -- 2 Methodology -- 2.1 Research Orientation -- 2.2 Interactive research -- 2.3 Design Research Methodology -- 2.4 Demonstrator-Based Research -- 2.5 Research Methodology -- 2.5.1 Research Environment -- 2.5.2 Case Studies &amp -- Data Collection -- 2.5.3 Demonstrator Development -- 3 Frame of Reference -- 3.1 Automation -- 3.1.1 Characteristics of Automation -- 3.1.2 Challenges in Automation -- 3.1.3 Human-Automation Interfaces -- 3.2 Industrial Safety -- 3.2.1 Hazard Theory -- 3.2.2 Industrial Robots &amp -- Safety -- 3.2.3 Collaborative Operations -- 3.2.4 Risk Assessment &amp -- Risk Reduction -- 3.3 Assembly Operations -- 4 Laboratory Demonstrators -- 4.1 Hand-guided Assembly of Flywheel Cover -- 4.1.1 Case Study - Assembly of Flywheel Cover -- 4.1.2 Designing the Hand-Guiding Device -- 4.1.3 Developing &amp -- Safeguarding the Layout -- 4.1.4 Collaborative Assembly of Flywheel Cover -- 4.2 Collaborative Assembly of Under-body Panels -- 4.2.1 Case Study - Under-body Panel Assembly -- 4.2.2 Safe End+Effector -- 4.2.3 Developing &amp -- Safeguarding the Layout -- 4.2.4 Collaborative Assembly of Panels -- 5 Model of a Collaborative Cell -- 5.1 Collaborative, Robot &amp -- Operator Workspaces -- 5.1.1 Collaborative Workspace -- 5.1.2 Robot Workspace -- 5.1.3 Operator Workspace -- 5.1.4 Temporal Nature of Collaborative Systems -- 5.2 Tasks in Collaborative Workstation -- 5.3 Interaction -- 5.3.1 Initiating Modes of Operation -- 5.3.2 Interfaces and Safety.

5.4 Summary -- 6 Discussion &amp -- Conclusion -- 6.1 Automation and Safety -- 6.1.1 Characteristics of Collaborative Systems -- 6.1.2 Safety &amp -- Risk Assessment -- 6.2 Research Methodology &amp -- Validity -- 6.2.1 Research, Practice &amp -- Learning Systems -- 6.2.2 Integrating Task -- 6.2.3 Research Validity -- 6.2.4 Final Remarks -- 6.3 Conclusion -- 6.3.1 Contributions -- 6.3.2 Research Questions -- 6.3.3 Concluding Remarks -- References -- Appended Articles -- Paper I……101 - 110 -- Paper II…201 - 210 -- Paper III…301 - 314 -- Paper IV…401 - 422 -- Paper V… 501 - 518 -- Paper VI …601 - 612 -- Paper VII…701 - 716 -- Paper VIII…801 - 816.