Design of spline surface vacuum gripper for pick and place robotic arms

2020 ◽  
Vol 4 (2) ◽  
pp. 48-55
Author(s):  
A. S. Jamaludin ◽  
M. N. M. Razali ◽  
N. Jasman ◽  
A. N. A. Ghafar ◽  
M. A. Hadi
Keyword(s):  
Cycle Time ◽  
Industrial Robot ◽  
Annealing Process ◽  
Vacuum Suction ◽  
Robotic Arms ◽  
Custom Made ◽  
Pick And Place ◽  
Manufacturing Procedure ◽  
Production Flexibility ◽  
The Impact

The gripper is the most important part in an industrial robot. It is related with the environment around the robot. Today, the industrial robot grippers have to be tuned and custom made for each application by engineers, by searching to get the desired repeatability and behaviour. Vacuum suction is one of the grippers in Watch Case Press Production (WCPP) and a mechanism to improve the efficiency of the manufacturing procedure. Pick and place are the important process for the annealing process. Thus, by implementing vacuum suction gripper, the process of pick and place can be improved. The purpose of vacuum gripper other than design vacuum suction mechanism is to compare the effectiveness of vacuum suction gripper with the conventional pick and place gripper. Vacuum suction gripper is a mechanism to transport part and which later sequencing, eliminating and reducing the activities required to complete the process. Throughout this study, the process pick and place became more effective, the impact on the production of annealing process is faster. The vacuum suction gripper can pick all part at the production which will lower the loss of the productivity. In conclusion, vacuum suction gripper reduces the cycle time about 20%. Vacuum suction gripper can help lower the cycle time of a machine and allow more frequent process in order to increase the production flexibility.

Control of Industrial Robot Joint Flexibility Using Acceleration Feedback

2005 ◽  
Author(s):  
Ahmed S. Zaki
Keyword(s):  
Vibration Suppression ◽  
Industrial Robot ◽  
Observer Design ◽  
Robotic Arms ◽  
Robust Approach ◽  
Pick And Place ◽  
Acceleration Feedback ◽  
Simulation Results ◽  
Servo Controller ◽  
Pick And Place Operation

Many industrial robotic arms are used for general pick and place operations. These particular robotic arms are usually driven by timing belts, which limit the speed of the pick and place operation due to undesirable vibration at the end of the motion. This undesirable vibration is attributed to the timing belt’s flexibility, which introduces resonance inside the servo bandwidth. The objective of this paper is to demonstrate a simple and robust approach, which can be easily implemented in real time, to control robot belt flexibility. By using standard industrial accelerometers and a sliding observer, all the information required to implement a control can be estimated. A description of the sliding observer design and the vibration suppression controller are presented in this paper. Simulation results show how this technique can successfully reduce the robot end-point vibration and improve the bandwidth of the servo controller.

scholarly journals Multimodal Mixed Reality Impact on a Hand Guiding Task with a Holographic Cobot

2020 ◽  
Vol 4 (4) ◽  
pp. 78
Author(s):  
Andoni Rivera Pinto ◽  
Johan Kildal ◽  
Elena Lazkano
Keyword(s):  
Augmented Reality ◽  
Industrial Production ◽  
User Study ◽  
Haptic Feedback ◽  
Mixed Reality ◽  
Robot Arm ◽  
Pick And Place ◽  
Place Task ◽  
Guidance Technique ◽  
The Impact

In the context of industrial production, a worker that wants to program a robot using the hand-guidance technique needs that the robot is available to be programmed and not in operation. This means that production with that robot is stopped during that time. A way around this constraint is to perform the same manual guidance steps on a holographic representation of the digital twin of the robot, using augmented reality technologies. However, this presents the limitation of a lack of tangibility of the visual holograms that the user tries to grab. We present an interface in which some of the tangibility is provided through ultrasound-based mid-air haptics actuation. We report a user study that evaluates the impact that the presence of such haptic feedback may have on a pick-and-place task of the wrist of a holographic robot arm which we found to be beneficial.

Analysis and Reduction of the Waste in the Work Process Using Time Study Analysis: A Case Study

2014 ◽  
Vol 660 ◽  
pp. 971-975 ◽  
Author(s):  
Mohd Norzaim bin Che Ani ◽  
Siti Aisyah Binti Abdul Hamid
Keyword(s):  
Cycle Time ◽  
Lean Manufacturing ◽  
Value Added ◽  
Time Study ◽  
Study Approach ◽  
Root Cause ◽  
Wide Range ◽  
Unit Of Work ◽  
Time Required ◽  
The Impact

Time study is the process of observation which concerned with the determination of the amount of time required to perform a unit of work involves of internal, external and machine time elements. Originally, time study was first starting to be used in Europe since 1760s in manufacturing fields. It is the flexible technique in lean manufacturing and suitable for a wide range of situations. Time study approach that enable of reducing or minimizing ‘non-value added activities’ in the process cycle time which contribute to bottleneck time. The impact on improving process cycle time for organization that it was increasing the productivity and reduce cost. This project paper focusing on time study at selected processes with bottleneck time and identify the possible root cause which was contribute to high time required to perform a unit of work.

Complete Accessibility of Oscillations in Robotic Systems by Orthogonal Projections

1990 ◽  
Vol 112 (2) ◽  
pp. 194-202 ◽  
Author(s):  
Sabri Tosunoglu ◽  
Shyng-Her Lin ◽  
Delbert Tesar
Keyword(s):  
Current Practice ◽  
Industrial Robot ◽  
Robotic Systems ◽  
Orthogonal Projections ◽  
Small Oscillations ◽  
Robotic Arms ◽  
Driven System ◽  
System Equations ◽  
Six Degree Of Freedom

The current practice of controller development for flexible robotic systems generally focuses on one-link robotic arms and is valid for small oscillations. This work addresses the control of n-link, serial, spatial robotic systems modeled with m1 joint and m2 link flexibilities such that n≥m1+m2. System compliance is modeled by local springs and nonactuated prismatic and revolute type pseudo joints. The coupled, nonlinear, error-driven system equations are derived for the complete model without linearization or neglecting certain terms. For this system, the complete accessibility of vibrations is studied by orthogonal projections. It is shown that under some configurations of a robotic system, the induced oscillations may not be accessible to the controller. Given accessibility, the controller developed in this work assures the global asymptotic stability of the system. Example numerical simulations are presented based on the model of a six-degree-of-freedom Cincinnati Milacron T3-776 industrial robot. One example models the system compliance in four joints, while another case study simulates four lateral link oscillations. These examples show that this controller, even under inaccurate payload description, eliminates the oscillations while tracking desired trajectories.

scholarly journals A Pick and Place Task with an KUKA Industrial Robot, Aided by an Arduino Board

2019 ◽  
Vol 6 (12) ◽  
pp. 398-400
Author(s):  
Rodrigo Barbosa Tudeschini ◽  
Raphael Barbosa Carneiro de Lima ◽  
Luiz Flavio Martins Pereira ◽  
Álvaro Manoel de Souza Soares
Keyword(s):  
Industrial Robot ◽  
Pick And Place ◽  
Place Task

scholarly journals Transfiguring Healthcare: Three-Dimensional Printing in Pharmaceutical Sciences; Trends during COVID-19: A Review

2021 ◽  
pp. 207-218
Author(s):  
K. G. Siree ◽  
T. M. Amulya ◽  
T. M. Pramod Kumar ◽  
S. Sowmya ◽  
K. Divith ◽  
...  
Keyword(s):  
3D Printing ◽  
Medical Devices ◽  
Three Dimensional ◽  
Pharmaceutical Sciences ◽  
Three Dimensional Printing ◽  
Custom Made ◽  
High Degree ◽  
The Impact ◽  
Dimensional Printing ◽  
Shed Light

Three-dimensional (3D) printing is a unique technique that allows for a high degree of customisation in pharmacy, dentistry and in designing of medical devices. 3D printing satiates the increasing exigency for consumer personalisation in these fields as custom-made medicines catering to the patients’ requirements are novel advancements in drug therapy. Current research in 3D printing indicates towards reproducing an organ in the form of a chip; paving the way for more studies and opportunities to perfecting the existing technique. In addition, we will also attempt to shed light on the impact of 3D printing in the COVID-19 pandemic.

scholarly journals Incorporating Outsourcing Strategy and Quality Assurance into a Multiproduct Manufacturer–Retailer Coordination Replenishing Decision

Mathematics ◽  
2020 ◽  
Vol 8 (12) ◽  
pp. 2212
Author(s):  
Yuan-Shyi Peter Chiu ◽  
Victoria Chiu ◽  
Tsu-Ming Yeh ◽  
Hua-Yao Wu
Keyword(s):  
Quality Assurance ◽  
Cycle Time ◽  
Cost Effective ◽  
Managerial Decision ◽  
Optimal Operating ◽  
Supply Chain System ◽  
Operating Policy ◽  
Multiproduct Manufacturing ◽  
The Impact ◽  
Optimal Operating Policy

This study explores the multiproduct manufacturer-retailer coordination replenishing decision featuring outsourcing strategy and product quality assurance. Globalization has generated enormous opportunities. Consequently, transnational firms now face tough competition in global markets. To stay competitive, a firm should meet the client’s multi-item and quality requirements under capacity constraints and optimize the intra-supply chain system to allow the timely distribution of finished goods under minimum system cost. The outsourcing option is considered to release machine loadings and reduce cycle time effectively. All items fabricated are screened for quality, and reworkable and scrap items are separated. Any reworked items that fail the quality reassurance screening are discarded, whereas all outsourced products are quality-guaranteed by the provider. A fixed-quantity multi-shipment plan is used when the whole finished lot is quality-ensured to help present-day transnational firms gain competitive advantage by making efficient and cost-effective multiproduct manufacturing and delivering decisions. Mathematical modeling is built to portray the system’s characteristics, and conventional differential calculus is used to solve and derive the optimal operating policy for the proposed problem. Simultaneously, we find the optimal delivery frequency and common cycle time for the problem mentioned above. A simulated numerical example and sensitivity analysis demonstrate the research result’s capability and applicability. Our precise analytical model can reveal/highlight the impact of deviations in quality- and outsourcing-related features on the optimal operating policy and several performance indicators that help managerial decision-making.

scholarly journals Characterization of a Y-Coupler and Its Impact on the Performance of Plastic Optical Fiber Links

Fibers ◽  
2018 ◽  
Vol 6 (4) ◽  
pp. 96 ◽  
Author(s):  
Alicia López ◽  
M. Losada ◽  
Javier Mateo ◽  
N. Antoniades ◽  
Xin Jiang ◽  
...  
Keyword(s):  
Optical Fibers ◽  
Power Distribution ◽  
Glass Fibers ◽  
Single Mode ◽  
Transmission Properties ◽  
Modal Power ◽  
Custom Made ◽  
Plastic Optical Fibers ◽  
The Impact

Couplers and splitters are common devices in single-mode and multi-mode glass fibers applications, where they perform a variety of functions. However, when switching to plastic optical fibers (POFs), there is a shortage of commercial devices, which are usually custom-made. The problem with these devices is that modal power distribution in POFs is easily modified by spatial disturbances that produce a localized strong power transfer between modes, thus changing their transmission properties. In this work, a commercial Y-coupler designed for POFs is experimentally characterized. Measurements of its spectral, spatial and temporal characteristics have been performed, including insertion loss as a function of wavelength, angular power distribution, and frequency response. The obtained results show that this device has an equalizing effect over the power spatial distribution that reduces the fiber bandwidth, demonstrating the importance of considering the impact of this type of devices on the transmission properties of any POF system.

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