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IJMERR 2023 Vol.12(2): 91-98
DOI: 10.18178/ijmerr.12.2.91-98

Measuring the Movement Force of a CoBot to Evaluate Hand Guiding Operation

Yun-Ju Chuang 1, Yin-Tung Sun 1, Ho Chang 2*, and Tsing-Tshih Tsung 3
1. Graduate Institute of Manufacturing Technology, National Taipei University of Technology (NTUT), Taipei, Taiwan
2. Department of Semiconductor and Electro-Optical Technology, Minghsin University of Science and Technology (MUST), Hsinchu, Taiwan
3. Department of Mechanical Engineering, Chinese Culture University (CCU), Taipei, Taiwan
*Correspondence: andy2551468@gmail.com, hchang@must.edu.tw

Manuscript received August 9, 2022; revised October 19, 2022; accepted November 11, 2022.

Abstract—In this study, we produced a testing model for evaluating the movement force involved in the hand guidance of a collaborative robot (CoBot). Hand guiding is a new concept in the field of CoBots and is one of the main topics of the International Organization for Standardization’s Technical Specifications 15066. The movement force of a four-degrees-of-freedom ceiling-mounted CoBot in a workspace was analyzed in this study. The research proposed a new method to evaluate the hand guiding operation of a CoBot: first, the movement force was measured; second, an image model was produced using these measurements; third, the movement forces for a workspace were analyzed; finally, using these image models, conclusions and recommendations were formulated, detailing the safety requirements of hand guiding operations.

Keywords—hand guiding, collaborative robot (CoBot), ISO/TS 15066

Cite: Yun-Ju Chuang, Yin-Tung Sun, Ho Chang, and Tsing-Tshih Tsung, "Measuring the Movement Force of a CoBot to Evaluate Hand Guiding Operation," International Journal of Mechanical Engineering and Robotics Research, Vol. 12, No. 2, pp. 91-98, March 2023. 

Copyright © 2023 by the authors. This is an open access article distributed under the Creative Commons Attribution License (CC BY-NC-ND 4.0), which permits use, distribution and reproduction in any medium, provided that the article is properly cited, the use is non-commercial and no modifications or adaptations are made.