Varnost in zanesljivost robotskih komponent

Domajnko, Helena (avtor), Munih, Marko (mentor), Pogačar, Marko (komentor)

Sistemsko in funkcionalno varnost produktov in procesov definirajo standardi, ki določajo varnostne zahteve, varnostne cilje in postopke analize tveganja. Obstaja več različnih metod, razlike med njihovimi postopki smo ponazorili na primeru rotacijskega magnetnega dajalnika. V delu so opisani dajalniki pomika in zasuka, delovanje inkrementalnih in absolutnih dajalnikov, uporaba kodirnih sledi ter magnetouporovni in Hallovi senzorji. Navedene so glavne značilnosti produkta AksIM-4, na katerem je izvedena analiza. Naštetih je nekaj standardov za funkcionalno varnost električnih in elektronskih naprav, kot so IEC 61508, ISO 26262, IEC 61131-6 in ISO 13849. Sledi predstavitev orodij za analizo tveganj. Opisane so metode FMECA, HAZOP in FTA ter njihovi postopki, značilnosti, prednosti in slabosti. S primeri je predstavljen postopek pridobivanja ocene tveganja. Izvedeni sta FMECA in HAZOP analizi za indikatorsko LED in senzor na merilni glavi. Postopki in rezultati so predstavljeni v obliki tabel in blokovnih shem. Napravljen je primer FTA za odpoved ">senzor nima podatka o magnetnem polju magnetnega obroča"<, ki je predstavljen v obliki drevesa odpovedi. Primerjani so rezultati in izvedba FMECA in HAZOP analiz. Primerjana sta tudi dva načina za računanje ocene tveganja, seštevanje in množenje. Predstavljena je vloga rezultatov pri preprečevanju okvar in izboljšanju zasnove produkta.

• Jezik: Slovenski jezik
• Ključne besede: rotacijski magnetni dajalnik, analiza nevarnosti, ocena tveganja, FMECA, HAZOP, FTA
• Vrsta gradiva: Diplomsko delo/naloga
• Tipologija: 2.11 - Diplomsko delo
• Organizacija: FE - Fakulteta za elektrotehniko
• Leto izida: 2024
• PID: 20.500.12556/RUL-161041-edd825e8-f8e0-8caa-0e23-bb545f3ed968
• COBISS.SI-ID: 206657795
• Datum objave v RUL: 06.09.2024

DOMAJNKO, Helena, 2024, Varnost in zanesljivost robotskih komponent [na spletu]. Diplomsko delo. [Dostopano 6 maj 2025]. Pridobljeno s: https://repozitorij.uni-lj.si/IzpisGradiva.php?lang=slv&id=161041

Sekundarni jezik

• Jezik: Angleški jezik
• Naslov: Safety and reliability of robotic components

Izvleček

System and functional safety of products and processes is defined by standards that specify safety requirements, safety objectives and risk analysis procedures. There are several different methods, we illustrated the differences between them on the example of a rotary magnetic encoder. The thesis describes linear and rotary encoders, incremental and absolute encoders, coding tracks, and magnetoresistive and Hall sensors. The main characteristics of the product AksIM-4 on which the analysis was conducted are listed. Some standards for the functional safety of electrical and electronic devices are introduced, such as IEC 61508, ISO 26262, IEC 61131-6, and ISO 13849. This is followed by a presentation of risk analysis tools. The FMECA, HAZOP and FTA methods as well as their procedures, characteristics, advantages and disadvantages are described with some examples of obtaining a risk assessment. An FMECA and HAZOP analysis was performed for LED indicator and sensor on the readhead. Procedures and results are presented in the form of tables and block diagrams. A failure tree of an FTA is shown for the failure "the sensor has no magnetic field information of the magnetic ring". The thesis compares the results of FMECA and HAZOP analyses and two approaches to the risk assessment, by addition and by multiplication. The role of results in preventing failures and improving product design is explained.

• Ključne besede: rotary magnetic encoder, hazard analysis, risk assessment, FMECA, HAZOP, FTA