Instructions | Yeah Robotic Hand (formerly Rebelia)

11
Maintenance
!! DO NOT PULL TENDONS WITH YOUR BARE HANDS !!

MANDATORY
- Use the vice to hold still the part to be worked on
- Use the pliers to pull the tendons
POSSIBLE INJURIES:
- Severe cuts to fingers
- Severe bleeding requiring immediate surgery
Put in Service

BEFORE TO PUT IN SERVICE THE COMPLETE MACHINERY WHICH WILL INTEGRATE THE GRIPPER, THE FOLLOWING SYMBOLS MUST BE APPLIED TO THE FINAL PRODUCT, SO THAT THEY ARE ALWAYS VISIBLE TO THE PEOPLE PRESENT IN THE VICINITY
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Normal Functioning

People near the Gripper

ATTENTION: the gripper could break while using the machinery!

POSSIBLE INJURIES: If the gripper breaks, some broken parts may be sharp or pointed and could cut people's skin and cause permanent injuries or bleeding and/or require immediate surgery.

Gripper holding an object

ATTENTION: An object could break away from the gripper and hit a person.

POSSIBLE INJURIES: A thrown object could cause: broken bones, cutting or piercing, or burns if it’s very hot, or contamination if it contains or is made from harmful substances.

Interaction with people

ATTENTION: Fingers or human skin can get caught in the machinery mechanisms and get severely injured.

POSSIBLE INJURIES: A finger can be crushed, causing severe bruising to the skin or nails. A nylon tendon can cut a hand finger, causing bleeding where immediate surgery is required. Sharp edges can cut the skin, causing bleeding or bruising.

Additional Safety Information

Situations of risk and residual risk

Hazardous Situation

Hazardous Event

Hazard

RESIDUAL RISKS AFTER IMPLEMENTATION OF REDUCTION MEASURES

Manipulating tendon wires

Contact of human fingers with tendon pulled with force

Cutting or abrasion of human fingers by tendon wires

Skin injury if operator doesn't follow instructions when:

removing / inserting tendon

Acceptable usage of the machinery and residual risks

Hazardous situation (ISO 12100:2010, Table B.3)	Hazardous event (ISO 12100:2010, Table B.4)	Hazard (ISO 12100:2010, Table B.1)	RESIDUAL RISKS AFTER IMPLEMENTATION OF REDUCTION MEASURES
Being close to the gripper workspace (it depends on the complete machine which integrates the gripper)	Break up of the gripper during operation, exposing sharp or abrasive parts	Impact, puncture, stabbing, abrasion	On the complete machine, which integrates the gripper, manufactured by others, it’s possible one of these risks: A broken part can be sharp and cut human skin until blood spills and immediate surgery is required
Being at sufficient distance to be hit by an object held by the gripper in the case the object detaches from the gripper for any reason	Contact with an object which is ejected/thrown by the gripper	Impact, abrasion, cut, stab, puncture, burn, electrocution or hazardous substance contamination by an ejected/thrown object	On the complete machine, which integrates the gripper, manufactured by others, it’s possible one of these risks: A thrown object can cause: bone breakage, cuts or stabbing if sharp, burns if hot, contamination if it contains or is made of harmful substances
Using gripper intensively	Flame generated by overheated motors or electronics board	Flame	On the complete machine, which integrates the gripper, manufactured by others, it’s possible one of these risks: Gripper may get fire if used intensively outside its limits.

Not acceptable usage of the machinery and residual risks

While the acceptable usage of the gripper, once integrated into the final machinery, the following dangerous situations may occur:

It is important that integrators reduce the above-mentioned hazardous circumstances, as they depend on the final machinery and the related risks cannot be reduced by acting on the gripper alone.

The following dangerous situations have been analysed and the related risks have been reduced by the manufacturer; they still, however, present residual risks.

Hazardous Situation	Hazardous Event	Hazard	RESIDUAL RISKS AFTER IMPLEMENTATION OF REDUCTION MEASURES
Being close to the gripper workspace (it depends on the complete machine which integrates the gripper)	Contact with harmful parts of the held object: sharp edges, tips, abrasive surfaces	Puncture, stabbing, abrasion, burn, electrocution	Puncture, stabbing, abrasion, burn, electrocution
Being close to the gripper workspace (it depends on the complete machine which integrates the gripper)	Contact with heavy held object	Impact	Impact
Being close to the gripper workspace (it depends on the complete machine which integrates the gripper)	Contact with high temperature part of held object	Burn	Burn
Being close to the gripper workspace (it depends on the complete machine which integrates the gripper)	Contact with high high voltage part of held object	Electrocution, burn	Electrocution, burn
Being close to the gripper workspace (it depends on the complete machine which integrates the gripper)	Contact with a held object contaminated by hazardous substances	Contamination by hazardous substances part of the held object	Contamination by hazardous substances part of the held object

Hazardous situation (ISO 12100:2010, Table B.3)	Hazardous event (ISO 12100:2010, Table B.4)	Hazard (ISO 12100:2010, Table B.1)	RESIDUAL RISKS AFTER IMPLEMENTATION OF REDUCTION MEASURES
Touching the gripper phalanges with human fingers	Contact of human fingers with the gripper moving parts	Crushing of very small human fingers inside the space between the robotic finger and the tendon, cut of human fingers by tendon pulling with force	On the complete machine, which integrates the gripper, manufactured by others, it’s possible one of these risks: Finger can be compressed until skin or nails are severely bruised Tendon can cut human finger until blood spills and surgery is required
Touching the gripper palm	Contact of human fingers with the gripper moving parts	Crushing of human fingers or skin in the space between the thumb base and the palm or skeleton	On the complete machine, which integrates the gripper, manufactured by others, it’s possible one of these risks: Finger can be compressed until skin or nails are severely bruised
Being underneath the gripper when is holding an object	Falling of objects	Impact of a falling object	On the complete machine, which integrates the gripper, manufactured by others, it’s possible one of these risks: A falling object can cause: bone breakage, cuts or stabbing if sharp, burns if hot, contamination if contaminated
Touching an overheated gripper	Burn caused by contact with flame generated by the gripper or overheated gripper	Burn	On the complete machine, which integrates the gripper, manufactured by others, it’s possible one of these risks: Skin burns caused by flames
Being at sufficient distance from a damaged gripper to be hit by an object held by the damaged gripper in the case the object detaches from the damaged gripper for any reason	Contact with an object which is ejected/thrown by the damaged gripper	Impact, abrasion, cut, stab, puncture, burn, electrocution or hazardous substance contamination by an ejected/thrown object	On the complete machine, which integrates the gripper, manufactured by others, it’s possible one of these risks: A falling object can cause: bone breakage, cuts or stabbing if sharp, burns if hot, contamination if contaminated A thrown object can cause: bone breakage, cuts or stabbing if sharp, burns if hot, contamination if it contains or is made of harmful substances A broken part can be sharp and cut human skin until blood spills and immediate surgery is required

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Health and Safety Symbols

The following section explains the meaning of the symbols used throughout the manual. Please make sure you have grasped the meaning of each relevant symbols to prevent dangerous circumstances.

READ INSTRUCTIONS MANUAL

MANDATORY USE OF THE VICE

MANDATORY USE OF THE PLIERS

DO NOT SPRAY LIQUIDS ON THE GRIPPER

DANGER OF CUTTING FINGERS BY TENDONS

DANGER OF FALLING OBJECT FROM ABOVE

DANGER OF FLYING OBJECT

DANGER OF FIRE

DANGER OF HOT SURFACES

DANGER OF CUTTING BODY PARTS

DANGER OF CRUSHING BODY PARTS

DANGER OF HARMFUL SUBSTANCES

DANGER HIGH VOLTAGE ELECTRICITY

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Personal Protective Equipment
Protective Tools for Assembly and Maintenance

During assemblage and maintenance is mandatory to use the following tools:
- •Pliers to hold and pull the tendons
- •Vise to hold still the gripper during operation
Protective Tools (Acceptable Usage)

While the acceptable usage of the gripper, it is not necessary any special protective equipments.

It is responsibility of the integrators to analyse further risky circumstances while using the completed machinery, and add any appropriate protective equipments.
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Warning Labels attached to the Machinery

This symbol must be affixed to the complete machinery so that they are visible to those using the machinery.

The following symbols must be applied to the complete machinery before it is put into service, in such a way that is visible to anyone within the action’s range of the complete machinery, whether they are operators or simple passers-by or visitors:

These symbols must be applied to the completed machinery before it is put into service, in such a way that is visible to anyone within the range of action of the completed machinery, whether they are operators or simple passers-by or visitors, only in the case when the completed machinery, that integrates the gripper, is used to handle objects containing substances that are harmful to health.
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Emergency Situations

In the case of fire, disconnect the power supply.

In the case of contamination from harmful substances, the integrators who made the completed machinery handling such substances, must carry out a risks’ analysis and assess emergency situations and report them in the technical file and in the instructions of the completed machinery.