Development of Production Robot System that can Assemble Products with Cable and Connector

2011 ◽  
Vol 23 (6) ◽  
pp. 939-950 ◽  
Author(s):  
Rintaro Haraguchi ◽  
◽  
Yukiyasu Domae ◽  
Koji Shiratsuchi ◽  
Yasuo Kitaaki ◽  
...  
Keyword(s):  
Force Control ◽  
Error Recovery ◽  
System Stability ◽  
Robot System ◽  
3D Vision ◽  
Vision Sensing ◽  
Start Up ◽  
Product Assembly ◽  
Task Level ◽  
And Task

To realize automatic robot-based electrical and electronic product assembly, we developed the handling of cables with connectors - flexible goods which are an obstacle to automation. The element technologies we developed include 3D vision sensing for cable extraction, force control for connector insertion, error recovery for improving system stability, and task-level programming for quick system start-up. We assembled FA control equipment to verify the feasibility of our developments.

Estimation of Critical Damping in Robot Joints and Identification of the Joint for Design With Most Effective Damping Enhancement

1994 ◽  
Author(s):  
Ahmad A. Smaili ◽  
Muhammad Sannah
Keyword(s):  
Natural Frequency ◽  
System Stability ◽  
Flexible Robot ◽  
Robot System ◽  
Joint Compliance ◽  
Dynamics And Control ◽  
Joint Identification ◽  
The One ◽  
And Control ◽  
Critical Damping

Abstract A major hindrance to dynamics and control of flexible robot manipulators is the deficiency of its inherent damping. Damping enhancement, therefore, should result in lower vibration amplitudes, shorter settling times, and improvement of system stability. Since the bulk of robot vibrations is attributed to joint compliance, it is a prudent strategy to design joints with sufficient inherent damping. In this article, a method is proposed to estimate critical damping at each joint and identify the joint that should be targeted for design with sufficient built-in damping. The target joint identification process requires that a n-joint robot system is divided into n-subsystems. Subsystem i includes the compliance of joint i and the inertia of the succeeding links, joint mechanisms, and payload. An equivalent single degree of freedom torsional model is devised and the natural frequency and critical damping is evaluated for each subsystem. The estimated critical damping at the joints are used to determine the elastodynamic response of the entire robot system from a model that includes joint compliance, shear deformation, rotary inertia, and geometric stiffness. The response revealed the following conclusion: The joint of the manipulator that would result in lower amplitudes of vibrations and shorter settling times when designed with sufficient built-in damping is the one that renders a subsystem whose natural frequency is the lowest of all subsystems comprising the robot.

Can We Simplify Complexity Measurement? A Primer Towards Usable Framework For Industry Implementation

2018 ◽  
Vol 62 (1) ◽  
pp. 853-857 ◽  
Author(s):  
Pranav Kannan ◽  
Noor Quddus ◽  
S. Camille Peres ◽  
M. Sam Mannan
Keyword(s):  
Design Of Experiments ◽  
Performance Indicator ◽  
Key Performance Indicator ◽  
Independent Measurement ◽  
Complex Interactions ◽  
Complexity Measurement ◽  
Machine Systems ◽  
Task Level ◽  
And Task

The development of systems with complex interactions has led to limitations which are reflected in performance including reliability and safety of the systems. Concurrent developments of frameworks to represent and analyze complexity have aided the understanding of complexity in human-machine systems. The methodology and framework presented is proposed to aid the design of experiments to establish causative relationships of complexity attributes with performance and further deployment in industry. The framework leverages three independent measurement paradigms, at the worker level, interaction level, and task level to classify twenty measurable complexity attributes. Their deployment in key performance indicator (KPI) frameworks and procedure writer’s guides are discussed.

scholarly journals The Impact of Heavy Perceived Nurse Workloads on Patient and Nurse Outcomes

2017 ◽  
Vol 7 (1) ◽  
pp. 7 ◽  
Author(s):  
Maura MacPhee ◽  
V. Dahinten ◽  
Farinaz Havaei
Keyword(s):  
Patient Outcomes ◽  
Patient Acuity ◽  
Cross Sectional ◽  
Job Level ◽  
Patient Dependency ◽  
Tract Infections ◽  
The Impact ◽  
Nurse Outcomes ◽  
Task Level ◽  
And Task

This study investigated the relationships between seven workload factors and patient and nurse outcomes. (1) Background: Health systems researchers are beginning to address nurses’ workload demands at different unit, job and task levels; and the types of administrative interventions needed for specific workload demands. (2) Methods: This was a cross-sectional correlational study of 472 acute care nurses from British Columbia, Canada. The workload factors included nurse reports of unit-level RN staffing levels and patient acuity and patient dependency; job-level nurse perceptions of heavy workloads, nursing tasks left undone and compromised standards; and task-level interruptions to work flow. Patient outcomes were nurse-reported frequencies of medication errors, patient falls and urinary tract infections; and nurse outcomes were emotional exhaustion and job satisfaction. (3) Results: Job-level perceptions of heavy workloads and task-level interruptions had significant direct effects on patient and nurse outcomes. Tasks left undone mediated the relationships between heavy workloads and nurse and patient outcomes; and between interruptions and nurse and patient outcomes. Compromised professional nursing standards mediated the relationships between heavy workloads and nurse outcomes; and between interruptions and nurse outcomes. (4) Conclusion: Administrators should work collaboratively with nurses to identify work environment strategies that ameliorate workload demands at different levels.

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