ISO/TR 20218-1:2018

TECHNICAL ISO/TR
REPORT 20218-1
First edition
2018-08
Robotics — Safety design for
industrial robot systems —
Part 1:
End-effectors
Robotique — Conception de sécurité pour les systèmes de robots
industriels —
Partie 1: Organe terminal effecteur
Reference number
©
ISO 2018
© ISO 2018
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ii © ISO 2018 – All rights reserved

Contents Page
Foreword .iv
Introduction .v
1 Scope . 1
2 Normative references . 1
3 Terms and definitions . 1
4 Risk assessment . 2
4.1 General . 2
4.2 Limits of the end-effector(s) . 3
4.3 Hazard identification . 4
4.3.1 General. 4
4.3.2 Examples of hazards from end-effectors and workpieces . 4
4.4 Risk estimation . 4
4.5 Risk evaluation . 5
4.6 Residual risks . 5
5 Safety requirements and risk reduction. 5
5.1 General . 5
5.2 Risk reduction measures . 5
5.2.1 Shape and surfaces . . 5
5.2.2 Protective devices and safety-related functions . 5
5.2.3 Robot application design . 7
5.2.4 Risk reduction measures implemented by the user . 7
5.3 Safety-related control system performance . 7
5.4 Gripper end-effectors . 7
5.4.1 General. 7
5.4.2 Grasp-type grippers . 8
5.4.3 Vacuum grippers . 8
5.4.4 Magnet grippers . 8
5.5 Application-specific end-effectors . 9
5.5.1 General. 9
5.5.2 Examples of applications . 9
5.5.3 Risk reduction . 9
5.6 End-effectors for hand-guiding robots .10
5.6.1 General.10
5.6.2 Risk reduction .10
5.7 End-effector exchange systems (tool changers) .11
6 Verification and validation .11
7 Information for use .11
7.1 General .11
7.2 Instructions .11
Annex A (informative) Practical examples for end-effector risk assessment .13
Annex B (informative) Examples of gripper designs and their safety performance .18
Annex C (informative) Examples of hazards, their potential origins and consequences .19
Annex D (informative) Examples of hazards by function of the end-effector .22
Bibliography .24
Foreword
ISO (the International Organization for Standardization) is a worldwide federation of national standards
bodies (ISO member bodies). The work of preparing International Standards is normally carried out
through ISO technical committees. Each member body interested in a subject for which a technical
committee has been established has the right to be represented on that committee. International
organizations, governmental and non-governmental, in liaison with ISO, also take part in the work.
ISO collaborates closely with the International Electrotechnical Commission (IEC) on all matters of
electrotechnical standardization.
The procedures used to develop this document and those intended for its further maintenance are
described in the ISO/IEC Directives, Part 1. In particular, the different approval criteria needed for the
different types of ISO documents should be noted. This document was drafted in accordance with the
editorial rules of the ISO/IEC Directives, Part 2 (see www .iso .org/directives).
Attention is drawn to the possibility that some of the elements of this document may be the subject of
patent rights. ISO shall not be held responsible for identifying any or all such patent rights. Details of
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on the ISO list of patent declarations received (see www .iso .org/patents).
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World Trade Organization (WTO) principles in the Technical Barriers to Trade (TBT) see www .iso
.org/iso/foreword .html.
This document was prepared by Technical Committee ISO/TC 299, Robotics.
A list of all parts in the ISO 20218 series can be found on the ISO website.
Any feedback or questions on this document should be directed to the user’s national standards body. A
complete listing of these bodies can be found at www .iso .org/members .html.
iv © ISO 2018 – All rights reserved

Introduction
This document applies to industrial robot systems as described in ISO 10218-2:2011 and ISO/
TS 15066:2016.
This document provides guidance for end-effectors in robot systems, including collaborative
applications where a robot system and operators share the same workspace. In such collaborative
applications, the end-effector design is of major importance, particularly characteristics such as shapes,
surfaces and application function (e.g. clamping forces, residual material generation, temperature).
A comprehensive risk assessment is required by ISO 10218-2:2011. This document provides additional
guidance specific to end-effectors that can be helpful when performing the risk assessment in
accordance with ISO 10218-2:2011.
TECHNICAL REPORT ISO/TR 20218-1:2018(E)
Robotics — Safety design for industrial robot systems —
Part 1:
End-effectors
1 Scope
This document provides guidance on safety measures for the design and integration of end-effectors
used for robot systems. The integration includes the following:
— the manufacturing, design and integration of end-effectors;
— the necessary information for use.
This document provides additional safety guidance on the integration of robot systems, as described in
ISO 10218-2:2011.
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 10218-1:2011, Robots and robotic devices — Safety requirements for industrial robots — Part 1: Robots
ISO 10218-2:2011, Robots and robotic devices — Safety requirements for industrial robots — Part 2: Robot
systems and integration
ISO 11593, Manipulating industrial robots — Automatic end effector exchange systems — Vocabulary and
presentation of characteristics
ISO 12100:2010, Safety of machinery — General principles for design — Risk assessment and risk reduction
ISO 14539:2000, Manipulating industrial robots — Object handling with grasp-type grippers — Vocabulary
and presentation of characteristics
ISO/TS 15066:2016, Robots and robotic devices — Collaborative robots
3 Terms and definitions
For the purposes of this document, the terms and definitions given in ISO 12100, ISO/TS 15066:2016,
ISO 10218-1:2011, ISO 10218-2:2011, ISO 14539:2000, ISO 11593 and the following 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
compliant
exhibiting deformation of material or mechanism when subjected to a force
EXAMPLE Compliant linkage, compliant surface.
Note 1 to entry: The reciprocal of compliant is stiff.
Note 2
...