GB/T 38834.3-2023Robotics - Performance criteria and related test methods for service robots - Part 3: Manipulation (English PDF)

Foreword

This document was issued on 7 September 2023 by the State Administration for Market Regulation; Standardization Administration of the PRC and takes effect on 1 April 2024.

It is a GB/T standard: recommended rather than compulsory, but it is the text a Chinese reviewer applies when assessing a submission.

It is classified under ICS 25.040.30, Chinese classification J28.

This document complies with the provisions of GB/T 1.1-2020 "Standardization Work Guidelines Part 1.Structure and Drafting Rules of Standardization Documents"

Drafting.

This document is Part 3 of GB/T 38834 "Performance Specifications and Test Methods for Robotic Service Robots". GB/T 38834

The following sections have been published.

---Part 1.Wheeled robot motion;

---Part 2.Navigation;

---Part 3.Operation.

This document is equivalent to ISO 18646-3.2021 "Performance Specifications and Test Methods for Robotic Service Robots Part 3.Operation"

do".

Please note that some content in this document may be subject to patents. The publisher of this document assumes no responsibility for identifying patents.

This document is proposed by China Machinery Industry Federation.

This document is under the jurisdiction of the National Robot Standardization Technical Committee (SAC/TC591).

This document was drafted by. Beijing Machinery Industry Automation Research Institute Co., Ltd., Shenzhen Yuntian Lifei Technology Co., Ltd., Aobo (Beijing)

Beijing) Intelligent Technology Co., Ltd., Suzhou Collaborative Innovation Medical Robot Research Institute, China Software Evaluation Center (Software of the Ministry of Industry and Information Technology

and Integrated Circuit Promotion Center), Shenyang Xinsong Robot Automation Co., Ltd., Hangzhou Haikang Robot Co., Ltd., Chongqing University

School, Chongqing Luban Robot Technology Research Institute Co., Ltd., Lihong Safety Equipment Engineering (Shanghai) Co., Ltd., Hebei University of Technology, Midea Group

(Shanghai Co., Ltd.

The main drafters of this document. Yuan Jie, Yang Shuping, Wei Hongxing, Sun Yuning, Chen Luping, Zhang Feng, Cao Weiqi, Song Zhongkang, He Guotian, Hou Hongying,

Sun Yuandong, Zhang Chi, Li Aijun, Guo Shijie, Zhu Zhikun, Wang Jia, Tuo Liheng.

Introduction

In addition to the test methods specified in this document, the test of the position and trajectory accuracy of the manipulator specified in ISO 9283 can also be

use.

GB/T 38834 "Performance Specifications and Test Methods for Robotic Service Robots" aims to standardize the performance and test methods of service robots.

The law is intended to consist of four parts.

---Part 1.Wheeled robot locomotion. The purpose is to specify the motion performance characteristics and test methods of wheeled robots.

---Part 2.Navigation. The purpose is to specify the navigation performance characteristics and test methods of mobile service robots.

---Part 3.Operation. The purpose is to specify the operational performance characteristics and test methods of service robots.

---Part 4.Waist support robot. The purpose is to specify the performance characteristics and test methods of lumbar support robots.

Performance specifications and test methods for robotic service robots

Part 3.Operations

1 Scope

GB/T 38834.3-2023 measures what a service robot can pick up and handle, as Part 3 of the GB/T 38834 series on service robot performance and its test methods. The test conditions come first — the operating mode the robot is placed in, and the configuration under which a run is made. Three grasping characteristics follow, each set out with its own purpose, test facilities, test steps and results: grasp size, grip force, and resistance to the grasped object sliding. Two use cases close the document, again as complete test procedures: opening a hinged door, and opening a sliding door. Manufacturers' claims about manipulation are otherwise impossible to check. A holding force quoted on a datasheet says nothing about whether an object stays put once the arm is moving, which is why sliding resistance is measured apart from grip force, and a robot that opens a swing door has not thereby shown it can open a sliding one. Fixing the apparatus, the steps and the reported result is what makes two robots from two suppliers comparable at all. It is written for service robot builders, the laboratories that test them, and buyers drafting procurement specifications.

This document describes service robot operational performance indicators and evaluation methods, in particular.

---Fetch size;

---Grab force;

---grab sliding resistance;

---Open the hinged door;

---Open the sliding door.

Additional crawling features and use cases for service robot operations will be included in future revisions.

This document is intended for indoor environments only. However, the experiments described can also be used for robots used in outdoor environments.

This document does not apply to the verification and validation of safety requirements.

2 Normative reference documents

The contents of the following documents constitute essential provisions of this document through normative references in the text. Among them, the dated quotations

For undated referenced documents, only the version corresponding to that date applies to this document; for undated referenced documents, the latest version (including all amendments) applies to

this document.

GB/T 29555-2013 Door opening and closing force test method (ISO 9379.2005, MOD)

Note. There is no technical difference between the quoted content of GB/T 29555-2013 and the quoted content of ISO 9379.2005.

3 Terms and definitions

The following terms and definitions apply to this document.

3.1

robot robot

A programmable actuator that has a certain degree of autonomy and can perform movement, operation or positioning.

Examples. manipulators, mobile platforms and wearable robots.

Note. The robot includes a control system.

[Source. GB/T 12643-2013, 2.6, modification---"Actuator for two or more programmable axes" is replaced by "programmable

"Actuator" is replaced, "can move within its environment to perform the intended task" is replaced by "can perform movement, operation or positioning", modified

Note 1, deleted Note 2, added example]

3.2

service robotservicerobot

In addition to industrial automation applications, robots can complete useful tasks for humans or equipment.

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

Note 2.Joint robots used in production lines are industrial robots, while similar joint robots used for food service are service robots.

[Source. GB/T 12643-2013,2.10]