VG10 User Manual 1.1.0
Page 30 of 40
• Smooth and round design without any sharp edges or pinch points. Radius 2 mm
or higher.
• Friction clutch in all four arms makes them able to turn under a hard collision.
Torque approx. 6 N/m. (Patent pending)
• Valves stays in the grip position under emergency stop, which can prevent a work
item from flying out of the VG10. Vacuum is typically lost after a few seconds.
• The build-in tool changer is oversized and based on a redundant locking
mechanism. (Patent pending)
In collaborative applications the trajectory of robot can play a significant safety role.
The integrator must consider the angle of contact with a human body, e.g. orientate
the VG10 and work item so that the contact surface in the direction of movement is as
large as possible, and so that tool connectors are pointed in the direction opposite to
the movement. It is recommended to orientate the VG10 arms perpendicular to the
direction of movement to make them able to move under a hard collision.
OnRobot A/S have identified the potential hazards listed below as significant hazards
that must be considered by the integrator:
• Objects flying from the VG10 due to loss of grip
• Objects falling down from the VG10 due to loss of grip
• Injuries due to collisions between humans and work items, VG10, robot or other
obstacles
• Consequences due to loosen bolts
• Consequences if the VG10 cable gets stuck to something
• Operation with the robot half of the tool changer mounted, but without the VG10
clicked on
It is recommended that the VG10 is integrated in compliance with in the following
guides and standards:
• ISO 10218-2
• ISO 12100
• ISO/TR 20218-1
• ISO/TS 15066
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