Table of Contents
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Chapter 1 - Safety
Impact and Trapping Points
Figure 1-3. Robot Impact and Trapping Point Hazards
Adept robots are capable of moving at high speeds. If a person is struck by a robot
(impacted) or trapped (pinched), serious injury could occur. Robot configuration, joint
speed, joint orientation, and attached payload all contribute to the total amount of energy
available to cause injury.
Hazards from Expelling a Part or Attached Tooling
The maximum joint and user flange tip speeds that can be obtained on the Adept 550
robot in a runaway situation are listed in Table 1-3. Any tooling, fixtures, end-effectors, etc.,
mounted to the user flange, outer link, or inner link of the robot must be attached by
sufficient means to resist being expelled from the robot. Additionally, any payload must
be attached to the end-effector to resist being expelled from the robot.
Table 1-3. Maximum Robot Joint Velocities in Runaway Situations
Joint 1 maximum angular velocity
Joint 1 maximum linear velocity
Joint 2 maximum angular velocity
Joint 2 maximum linear velocity (measured at
user flange)
a
These velocities can only occur in a runaway or mechanical failure
situation. These are not performance specifications; see Chapter 6 for robot
performance specifications.
The safety fence or barrier constructed around the robot must be designed to withstand
the impact of any item expelled accidentally from the robot. Projectile energy can be
calculated using the formula E = 1/2mv
Example: 2 kg payload mounted at user flange.
maximum possible projectile energy = 1/2 (2kg) (20.8m/s)
6
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2
.
Adept 550 Robot Instruction Handbook, Rev A
a
660 degrees/second
4.2 meters/second
1375 degrees/second
12.3 meters/second
2
= 432 J (318 ft-lb)
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