Experimental Comparison of Biofidel Measuring Devices Used for the Validation of Collaborative Robotics Applications

Biofidel measuring devices are used to validate safety in collaborative workplaces. In these workplaces, humans work together with robots that are equipped with a Power and Force Limiting function (PFL). In this experimental comparison, differences between devices and possible causes are examined more closely. Safety-related parameters are identified in a literature review. Focusing on mechanical aspects, three biofidel measuring devices are analysed and compared in an experimental test series. To this end, a linear motor and a pendulum are used and the steps for comparing concepts are proposed and applied. Depending on the stiffness settings and the materials used, geometry effects on the force-deformation behaviour are shown. An oscillation occurred in one case. The comparison of the three devices shows average differences of 5% in measured peak force between them. This study helps to achieve uniform and comparable results in practice.