人間-ロボット系の安全性評価 : 第4報,1台のハンドリング産業用ロボットの潜在危険抑制措置の評価

概要

論文の詳細を見る
An actual unmanned manufacturing station consisting of an NC machine and an industrial robot is assumed. The main hazards of the robot to a human, which occur for the troubleshooting in the automatic operation mode of the system, are enumerated using the "Action-Chains-Model". The Fault Trees of the accidents caused by the hazards are given as the subsets of the "Logic Models for the Analysis of the Accident-Causation-Mechanisms", and the minimal cut structures are represented with Priority AND Gates in consideration of the specifications of the basic events. Furthermore, the hazard controllability of a manual, an automatic, and a combined mechanism to cut off the power sources of the robot when human enters the site are evaluated by comparing the expected numbers of occurrences of the respective top events.
一般社団法人日本機械学会の論文
1986-10-25