1. Regulations and Guidelines for
What You Need to Know:
Regulations and Guidelines for
Deploying Industrial Robotics in the Workplace

2. Deploying Industrial Robotics
Denise R. Hearn
Assistant Professor
Millersville University
Millersville, Pennsylvania
Dr. John R. Wright, Jr., CSIT
Associate Professor
Millersville University
Millersville, Pennsylvania

3. Deploying Industrial Robotics
Introduction
Sources of Robotic Hazards
Accident Types
Guarding Methods
Installation, Maintenance, and Programming
Worker Training and Supervision
Summary
Conclusion

4. Deploying Industrial Robotics
Introduction
Robots defined.
Industrial robots.
Devices/sensors required for performance.
Sequencing/monitoring communication interfaces.
Common robotic functions.
Materials handling, assembly, welding, painting, etc.
Perform unsafe, hazardous, repetitive tasks.

5. Deploying Industrial Robotics
Introduction
Shift in U.S. manufacturing to automation.
Innovation and acceptance of robotic technology.
Potential exposure to severe/fatal accidents.
Recommendations for safe operation.

6. Deploying Industrial Robotics
Introduction
Guidelines for Robotics Safety
“Both state and federal regulations deal with industrial robotics safety, including the federal Occupational Safety and Health Act of 1970 (OSHA).”
These guidelines are aimed at three aspects of the robotic work area:
Keeping unauthorized persons outside of the work cell.
Protecting workers from fixed machinery.
And protecting workers from the robot itself.
(Fuller, 1999).

7. Deploying Industrial Robotics
Introduction
Guidelines for Robotics Safety (continued)
These regulations apply only to the normal operation of the robot
(Fuller, 1999).
Abnormal operation includes:
Programming.
Maintenance.

8. Deploying Industrial Robotics
Introduction
Guidelines for Robotics Safety (continued)
“Recent studies in Sweden and Japan indicate that many robot accidents do not occur under normal operating conditions but rather during programming, adjustment, testing, cleaning, inspection, and repair periods. During many of these operations, the operator, programmer or corrective maintenance worker may temporarily be within the robot work envelope while power is available to moveable elements of the robot system.”
STD – pub – Guidelines For Robotics Safety

9. Deploying Industrial Robotics
Introduction
Sources for Guidelines/Recommendations:
Occupational Safety and Health Administration (OSHA).
Guidelines for Robotics Safety, STD
Industrial Robots and Robot System Safety – OSHA Technical Manual, TED A.

10. Deploying Industrial Robotics
Introduction
Sources for Guidelines/Recommendations (continued):
National Institute of Occupational Safety and Health (NIOSH).
Preventing the Injury of Workers by Robots, PUB No

11. Deploying Industrial Robotics
Introduction
Sources for Guidelines/Recommendations (continued):
American National Standards Institute (ANSI).
Industrial Robots and Robot Systems – Safety Requirements, ANSI/RIZ R
Manufacturing Systems/Cells, ANSI B11.20.
International Organization for Standardization (ISO).
Safety of Integrated Manufacturing Systems, ISO

12. Deploying Industrial Robotics
Introduction
Guidelines/Recommendations Summarized
Sources of robotic hazards.
Accident types.
Guarding methods and control devices.
Installation, maintenance, and programming.
Training and supervision of workers.

13. Deploying Industrial Robotics
Sources of Robotic Hazards
Human error.
Control error.
Unauthorized access.
Mechanical failures.
Environmental sources.
Power systems.
Improper installation.

14. Deploying Industrial Robotics
Accident Types
Impact.
Crushing.
Trapping.
Mechanical part injuries.

15. Deploying Industrial Robotics
Guarding Methods
Interlocked barrier guards.
Fixed barrier guards.
Awareness barrier devices.
Presence sensing devices.
Emergency stops.
Audible and visible warning systems.

16. Deploying Industrial Robotics
Guarding Methods (continued)
Interlocked barrier guards.
Physical barrier around robot work envelope incorporating gates equipped with interlocks which will stop automatic operations when opened.
Fixed barrier guards.
A permanent fence requiring tools for removal.

17. Deploying Industrial Robotics
Guarding Methods (continued)
Awareness barrier devices.
Defines a safety perimeter intended to prevent inadvertent entry into the work envelope.
Presence sensing devices.
Detect a person stepping into a hazardous area near a robot.

18. Deploying Industrial Robotics
Guarding Methods (continued)
Emergency stops.
Dangerous robot movement is arrested by dynamic braking systems rather than simple power cut-off to counteract the effect of robot inertia.

19. Deploying Industrial Robotics
Guarding Methods (continued)
Audible and visible warning systems.
Not acceptable safeguard methods but may be used to enhance effectiveness of positive safeguards.
Control devices.
Located outside the robot work envelope.

20. Deploying Industrial Robotics
Guarding Methods (continued)
Control devices.
Photoelectric (light field).
Radio-frequency.
Electromechanical (contact bar).
Pullback.
Restraint devices.
Safety trip.
Two-hand controls.
Gates.

21. Deploying Industrial Robotics
Installation, Maintenance and Programming
Installed in accordance with manufacturer’s guidelines and applicable codes.
Verify compatibility with environmental conditions.
Power to robot conforms to manufacturer’s specifications.
Robot is secured to prevent vibration movement and tip over.
No additional hazards are created.

22. Deploying Industrial Robotics
Worker Training and Supervision
Managers.
Operators.
Engineers.
Programmers.
Maintenance personnel.
Bystanders.

23. Deploying Industrial Robotics
Worker Training and Supervision (continued)
Safe operation.
Maintenance.
Emergency procedures.
Shut down controls.
Inspection of safeguards.
Disciplinary action.
Working with teams.
Proper attire.

24. Deploying Industrial Robotics
Summary
Review guidelines from OSHA/NIOSH/ANSI/ISO.
Identify risks associated with robotics.
Reduce hazards inherent to robotics.
Reduce risk of accidents and injuries.

25. Deploying Industrial Robotics
Conclusion
Keeping well informed of these guidelines and risks signifies employers’ commitment to the safety and health of their employees.

26. Deploying Industrial Robotics
References
American National Standards Institute. (1999). ANSI/RIA R15.06 – Industrial Robots and Robot Systems – Safety Requirements.
Fuller, J. L. (1999). Robotics: Introduction, programming, and projects (2nd ed.). Prentice Hall: Upper Saddle River, NJ.
Rehg, J. A. (2003). Introduction to robotics in CIM systems (5th ed). Prentice Hall: Upper Saddle River, NJ.
U.S. Department of Health: National Institute for Occupational Safety Health. (1984). Publication No – Preventing the Injury of Workers and Robots. Accessed online (November, 2004):
US Department of Labor: Occupational Safety and Heath Administration. (1987). STD PUB Guidelines For Robotics Safety. Accessed online (October, 2005):
US Department of Labor: Occupational Safety and Heath Administration. (1999). TED A, Section IV – Chapter 4 – Industrial Robots and Robot System Safety. Accessed online (November, 2004):

27. Deploying Industrial Robotics
OSHA Connection
“Presentation Handout”