ISO 18646-3:2021 Robotics — Performance criteria and related test methods for service robots —Part 3: Manipulation

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Robotics — Performance criteria and related test methods for service robots —Part 3: Manipulation由国际标准化组织于2021‑06‑03发布，适用于全球范围。

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INTERNATIONAL STANDARD ISO 18646-3:2021

Robotics — Performance criteria and related test methods for service robots —

Part 3: Manipulation

1 Scope

This document describes methods of specifying and evaluating the manipulation performance of service robots, notably:

— grasp size;

— grasp strength;

— grasp slip resistance;

— opening a hinged door; and

— opening a sliding door.

There are other grasping characteristics and use cases for manipulation of service robots. It is expected that these will be included in a future revision.

This document deals with the indoor environment only. However, the depicted tests can also be applicable for robots operating in outdoor environments.

This document is not applicable for the verification or validation of safety requirements.

2 Normative references

The following documents are referred to in the text in such a way that some or all of their content constitutes requirements of this document. For dated references, only the edition cited applies. For undated references, the latest edition of the referenced document (including any amendments) applies.

ISO 9379:2005, Operating forces — Test method — Doors

3 Terms a nd definiti ons

For the purposes of this document, the following terms and definitions apply.

ISO and IEC maintain terminological databases for use in standardization at the following addresses:

— ISO Online browsing platform: available at https://www.iso.org/obp

— IEC Electropedia: available at http://www.electropedia.org/

3.1

robot

programmed actuated mechanism with a degree of autonomy to perform locomotion, manipulation or positioning

Note 1 to entry: A robot includes the control system.

EXAMPLE Manipulator, mobile platform, and wearable robot.

ISO 18646-3:2021

[SOURCE: ISO 8373:2012, 2.6, modified — The phrase “actuated mechanism programmable in two or more axes” is replaced with “programmed actuated mechanism”, the phrase “moving within its environment, to perform intended tasks” is replaced with “to perform locomotion, manipulation or positioning”, note 1 to entry is modified, note 2 is removed, and EXAMPLES are added]

3.2

service robot

robot that performs useful tasks for humans or equipment excluding industrial automation applications

Note 1 to entry: Industrial automation applications include, but are not limited to, manufacturing, inspection, packaging, and assembly.

Note 2 to entry: While articulated robots used in production lines are industrial robots, similar articulated robots used for serving food are service robots.

[SOURCE: ISO 8373:2012, 2.10]

3.3

mobile platform

assembly of all components of the mobile robot which enables locomotion

Note 1 to entry: A mobile platform can include a chassis which can be used to support a load.

Note 2 to entry: Because of possible confusion with the term “base”, it is advisable not to use the term “mobile base” to describe a mobile platform.

[SOURCE: ISO 8373:2012, 3.18]

3.4

manipulator

mechanism usually consisting of a series of segments, connected to one another by joints, for the purpose of grasping and/or moving objects usually in several degrees of freedom

Note 1 to entry: A manipulator does not include an end-effector.

[SOURCE: ISO 8373:2012, 2.1, modified — The phrase “machine in which the mechanism usually consists of” is replaced with “mechanism usually consisting of”, the phrase “jointed or sliding relative to one another” is replaced with “connected to one another by joints”, the phrase “(pieces or tools)” is removed, and note 1 is removed]

3.5

end effector

device specifically designed for attachment to the mechanical interface to enable the robot to perform its task

EXAMPLE Gripper, nut runner, welding gun, spray gun.

[SOURCE: ISO 8373:2012, 3.11]

3.6

gripper

end effector designed for seizing and holding

[SOURCE: ISO 8373:2012, 3.14]

3.7

palm

solid member in the basic mechanical structure of a gripper on which the first joints of fingers are fixed

Note 1 to entry: A palm may make direct contact to objects.

[SOURCE: ISO 14539:2000, 4.2.1.2]

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