Overload Protection Table for Robotic Applications

In the paper, a safety device for a robotic workplace is proposed in the form of a table with overload protection. Until a collision occurs, the table and objects attached to it stay in a stable position. When a preset critical activation force is exceeded, the table becomes dislodged. For this purpose, a delta mechanism is used. Based on analysis, the optimal geometry of the mechanism is designed so that the activation force is as little dependent as possible on the direction of action. Compared to common approaches, where the force limitation mechanism is attached to the robot, the chosen design has the advantage that the robot’s carrying capacity and dynamics are unaffected. Moreover, since the mechanism is stationary, it is possible to compensate for the influence of the gravitational force. As a result, it is thus possible to set the designed protection even for small collision forces. The proposed solution is not intended for human-robot interaction, and additional security measures, such as fencing, are necessary.