On Jan 29, 2024, at 19:50, sgbrody <[email protected]> wrote:
That standard is ISO 15066 which is Collaborative Robots. After
measuring force and then determining the surface areas of the part
contacting whatever, you can determine the pressure.
This standard provides tables for allowable forces and pressures -
both are needed - to determine if the robot 'crash' is within
acceptable range.
For example, I have two clients using robots which are billed by
their manufacturers as collaborative, but it is the end effector when
tested for the 'crash' force and pressure, that will confirm they are
collaborative in that specific application.
In both cases they were confirmed collaborative.
However, if the flat surface of the end effector was replaced with a
needle, they would not be collaborative. They would be dangerous
and guarding would be required.
Thanks,
Sent from my T-Mobile 5G Device
-------- Original message --------
From: Douglas Powell <[email protected]>
Date: 1/29/24 7:05 PM (GMT-05:00)
To: [email protected]
Subject: Re: [PSES] Reduce Speed of Moving Part to Reduce Risk
All valid points; however, I was taking my information from the
established ISO/IEC standards for machinery, with which I am
familiar. I do recall another standrd some years ago, mentioning
contact surface area when I was looking into finger crush as well as
sharp edges. And the original question was solely about speed, so
that's how I responded.
All the best, ~ Doug
Douglas E Powell
Laporte, Colorado, USA
[email protected]
LinkedIn <https://www.linkedin.com/in/coloradocomplianceguy/>
(UTC-06:00, US-MDT)
On Mon, Jan 29, 2024 at 4:41 PM Richard Nute <[email protected]> wrote:
Hi Doug and Brian:
I thought I would offer my (radical) point of view on the issue
of “speed of moving parts.”
Consider moving aluminum foil and moving aluminum block, both at
the same speed. The aluminum foil has very little mass, while
the aluminum block has relatively high mass. The foil is not
likely to cause injury, while the block may cause injury.
Consider an aluminum needle and an aluminum block, both having
the same speed and mass. The needle is likely to cause injury,
while the block is not likely to cause injury.
Consider the time of contact with a moving part. If the time is
long, then injury is not likely. If the time is short, then
injury is likely.
So, in addition to speed, we must consider mass of the block,
contact area, and duration of the contact in predicting injury.
In other words, energy per area (mv^2 per area in this case)
whether mechanical, thermal, radiant, chemical, or electrical,
transferred to a body part for a (usually short) period of time,
causes injury. The same energy magnitude transferred over a long
period of time is not likely to cause injury.
An injury occurs only when energy per contact area of sufficient
magnitude and duration is imparted to a body part. Both the
safety science article and the IRSST paper discuss energy of
moving parts and area, but do not address the other parameters.
Both introduce (to me) the concept of “force” on various body
parts. I’m not sure of how this fits into this safety discussion.
Consideration of speed alone is over-simplification.
Best regards,
Rich
*From:* Doug Nix <[email protected]>
*Sent:* Monday, January 22, 2024 11:16 AM
*To:* [email protected]
*Subject:* Re: [PSES] Reduce Speed of Moving Part to Reduce Risk
Hi Brian,
In the machinery sector, 250 mm/s has long been used as the
threshold for avoidability. This figure comes from the robot
standards and has been used for about 30 years. Studies done at
the Polytechnique de Montréal [1] and IRSST [2] have shown that a
speed closer to 140 mm/s is more universally avoidable by people
working in various environments, but the long use of 250 mm/s has
entrenched that higher speed. Related to that is the IRSST’s
Repoer R-956. I’ve attached copies of these documents for you.
You can find the 250 mm/s number quoted in most machinery safety
standards where reduced speed is considered for risk reduction.
The origin is in ANSI/RIA R15.06 1992, which made its way into
CSA Z434 and then eventually to ISO 10218.
[1]Y. Chinniah, B. Aucourt, and R. Bourbonnière, “Study of
Machine Safety for Reduced-Speed or Reduced-Force Work R-956,”
IRRST - Institut de recherche Robert-Sauvé en santé et en
sécurité du travail, Montreal, 2017.
[2]Y. Chinniah, B. Aucourt, and R. Bourbonnière, “Safety of
industrial machinery in reduced risk conditions,” Safety Science,
vol. 93, pp. 152–161, Mar. 2017, doi: 10.1016/j.ssci.2016.12.002.
Best regards,
Doug Nix
[email protected]
+1 (519) 729-5704
------------------------------------------------------------------------
This message is from the IEEE Product Safety Engineering Society
emc-pstc discussion list. To post a message to the list, send
your e-mail to [email protected]
All emc-pstc postings are archived and searchable on the web at:
https://www.mail-archive.com/[email protected]/
Website: https://ewh.ieee.org/soc/pses/
Instructions: https://ewh.ieee.org/soc/pses/list.html (including
how to unsubscribe) <https://ewh.ieee.org/soc/pses/list.html>
List rules: https://ewh.ieee.org/soc/pses/listrules.html
For help, send mail to the list administrators:
Mike Sherman at: [email protected]
Rick Linford at: [email protected]
For policy questions, send mail to:
Jim Bacher at: [email protected]
------------------------------------------------------------------------
To unsubscribe from the EMC-PSTC list, click the following link:
https://listserv.ieee.org/cgi-bin/wa?SUBED1=EMC-PSTC&A=1
<https://listserv.ieee.org/cgi-bin/wa?SUBED1=EMC-PSTC&A=1>
------------------------------------------------------------------------
This message is from the IEEE Product Safety Engineering Society
emc-pstc discussion list. To post a message to the list, send your
e-mail to [email protected]
All emc-pstc postings are archived and searchable on the web at:
https://www.mail-archive.com/[email protected]/
Website: https://ewh.ieee.org/soc/pses/
Instructions: https://ewh.ieee.org/soc/pses/list.html (including how
to unsubscribe) <https://ewh.ieee.org/soc/pses/list.html>
List rules: https://ewh.ieee.org/soc/pses/listrules.html
For help, send mail to the list administrators:
Mike Sherman at: [email protected]
Rick Linford at: [email protected]
For policy questions, send mail to:
Jim Bacher at: [email protected]
------------------------------------------------------------------------
To unsubscribe from the EMC-PSTC list, click the following link:
https://listserv.ieee.org/cgi-bin/wa?SUBED1=EMC-PSTC&A=1
------------------------------------------------------------------------
This message is from the IEEE Product Safety Engineering Society
emc-pstc discussion list. To post a message to the list, send your
e-mail to [email protected]
All emc-pstc postings are archived and searchable on the web at:
https://www.mail-archive.com/[email protected]/
Website: https://ewh.ieee.org/soc/pses/
Instructions: https://ewh.ieee.org/soc/pses/list.html (including how
to unsubscribe) <https://ewh.ieee.org/soc/pses/list.html>
List rules: https://ewh.ieee.org/soc/pses/listrules.html
For help, send mail to the list administrators:
Mike Sherman at: [email protected]
Rick Linford at: [email protected]
For policy questions, send mail to:
Jim Bacher at: [email protected]
------------------------------------------------------------------------
To unsubscribe from the EMC-PSTC list, click the following link:
https://listserv.ieee.org/cgi-bin/wa?SUBED1=EMC-PSTC&A=1
