Design of a Collaborative Modular End Effector Considering Human Values and Safety Requirements for Industrial Use Cases

Matteo Pantano, Adrian Blumberg, Daniel Regulin, Tobias Hauser, José Saenz, Dongheui Lee

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

6 Scopus citations

Abstract

In times of volatile market demands and international competition, European companies must highly rely on robots, especially collaborative robots, to enable flexible, agile, and resilient manufacturing. However, considering that 99% of the industry is composed of small and medium enterprises, the barriers of robot adoption need to be considered. Therefore, in this research work, we address two of the main barriers for the use of robots: safety and design, by proposing a modular end-effector for collaborative robots. In this work, an iterative design methodology using morphological structures and feedback from a user group to obtain a design solution was applied. Afterwards, the obtained solution comprised of several modules using 3D printing and off-the-shelf components was manufactured. Finally, the end-effector was tested on its picking performances and safety. The result shows that the reconfigurable end-effector can be easily adapted to grasp different parts, is well perceived by users, and meets the safety requirements for collaborative applications.

Original languageEnglish
Title of host publicationHuman-Friendly Robotics 2021 - HFR
Subtitle of host publication14th International Workshop on Human- Friendly Robotics
EditorsGianluca Palli, Claudio Melchiorri, Roberto Meattini
PublisherSpringer Nature
Pages45-60
Number of pages16
ISBN (Print)9783030963583
DOIs
StatePublished - 2022
Externally publishedYes
Event14th International Workshop on Human-Friendly Robotics, HFR 2021 - Bologna, Italy
Duration: 28 Oct 202129 Oct 2021

Publication series

NameSpringer Proceedings in Advanced Robotics
Volume23
ISSN (Print)2511-1256
ISSN (Electronic)2511-1264

Conference

Conference14th International Workshop on Human-Friendly Robotics, HFR 2021
Country/TerritoryItaly
CityBologna
Period28/10/2129/10/21

Keywords

  • Human robot collaboration
  • Modular gripper
  • SMEs
  • Value sensitive design

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