Functional and Constructive Optimization of a Serial-Modular Industrial Robot Implemented within a Single Purpose Flexible Manufacturing Cell

2012 ◽  
Vol 186 ◽  
pp. 239-246
Author(s):  
Silviu Mihai Petrişor ◽  
Ghiţă Bârsan
Keyword(s):  
Flexible Manufacturing ◽  
Degrees Of Freedom ◽  
Industrial Robot ◽  
Kinematic Chain ◽  
Chain Structure ◽  
Calculation Algorithm ◽  
Flexible Manufacturing Cell ◽  
Manufacturing Cell ◽  
Lagrangian Equations ◽  
Selection Of

The authors of this paper aim to highlight the basic design of a flexible manufacturing cell destined for the final processing of water radiators used for AAVs, cell serviced by a serial modular industrial robot possessing in its kinematic chain structure three degrees of freedom, RRT SIL type. The paper outlines the concept, calculation and design of the (MRB) rotation module at the studied industrial robot’s base and of the (MT) translation module of the prehension device attached to the robotic arm. Depending on the organological elements that are part of the MRB rotation module and based on a rigorous dynamic study performed on robotic modules, modeling conducted with the help of Lagrangian equations of the second kind, a dynamic-organological calculation algorithm was obtained for the selection of the appropriate driving servomotor necessary to putting the rotation movable system into service. The last part of the paper deals with the flexible manufacturing cell, together with the calculations related to profitability, economy and investment return duration, following the implementation of the RRT SIL-type industrial robot.

Off-Line Programming and Functioning Simulation of Robotic Flexible Manufacturing Cell for Part's Turning

2015 ◽  
Vol 760 ◽  
pp. 213-218 ◽  
Author(s):  
Andrei Mario Ivan ◽  
Florin Adrian Nicolescu ◽  
Georgia Cezara Avram ◽  
Adrian Theodor Mantea
Keyword(s):  
Flexible Manufacturing ◽  
Industrial Robot ◽  
Cell Structure ◽  
Research Work ◽  
Flexible Manufacturing Cell ◽  
Manufacturing Cell ◽  
System A ◽  
Offline Programming ◽  
Cnc Lathe ◽  
Machining Operations

This paper presents the works performed by the authors in the field of robotic flexible manufacturing cell offline programming and simulation. The study includes a manufacturing cell structure which includes a part transport system, a CNC lathe / turning centre and an articulated arm type industrial robot. The robot performs the task of loading / unloading the CNC lathe / manufacturing centre and manipulating the parts inside the cell, while the machining operations are performed by the CNC manufacturing centre. After briefly presenting the layout of the cell, the paper focuses on describing the methods used for offline programming and simulation of the tasks performed by the industrial robot. The software package used is ABB RobotStudio. The results of the research work are a process simulation and validation for CNC lathe / machining centre loading / unloading operation and part manipulation performed by the industrial robot and assisted task programming for this application using ABB RobotStudio software. The assisted offline programming and simulation general methods used, as well as the procedures for each stage of the applications are described, in order to illustrate the specific operation for each cell and offline programming aspects.

Modelling of a Controller for a Flexible Manufacturing Cell

1986 ◽  
Vol 200 (4) ◽  
pp. 217-227 ◽  
Author(s):  
T S Chan ◽  
H A Pak
Keyword(s):  
Flexible Manufacturing ◽  
Separate Entity ◽  
Control Software ◽  
Flexible Manufacturing Cell ◽  
Manufacturing Cell ◽  
Control Rules ◽  
Machine Failure ◽  
Alternative Routes ◽  
Cell Controller ◽  
Selection Of

In a flexible manufacturing cell (FMC) the supervisor controller plays a central role in co-ordinating the interaction between various manufacturing, transportation and inspection machines. In this paper, certain control rules for the selection of alternative routes, using transport facilities and machine failure are examined. This analysis is based upon computer simulation of the FMC and its interaction with the cell controller, which is also modelled as a separate entity. The parameters used in the models of the FMC and the controller may be altered independently and their effects may be noted prior to the implementation of the control software.

Aspects on the Calculus and Construction of Translation Modules in the Mechanical Structure of an Industrial Robot Possessing Four Degrees of Freedom

2013 ◽  
Vol 390 ◽  
pp. 166-171
Author(s):  
Silviu Mihai Petrişor ◽  
Ghiţă Bârsan
Keyword(s):  
Degrees Of Freedom ◽  
Industrial Robot ◽  
Kinematic Chain ◽  
Chain Structure ◽  
Robotic Arm ◽  
Lagrangian Formalism ◽  
Modular Construction ◽  
Design Elements ◽  
Mechanical Structure ◽  
Robot Architecture

The authors of this paper wish to highlight elements specific to the dynamic calculus, the concept, optimal design and assembly of translation modules in an industrial robot architecture of serial-modular construction, a structure which possesses in its kinematic chain structure four degrees of freedom. Based on a rigorous dynamic study conducted on the mechanical structure of the TTRT type industrial robot, modelling performed using Lagrangian formalism, and, taking into account the organological design elements that are part of the translation modules (the module attached to the robotic base - MTB Sil, the module in the vertical robotic arm MTV Sil, and the module in the mechanical structure of the horizontal robotic arm - MT Sil), the authors propose an energetic method of constructive optimization of the mechatronics system, according to which, translation modules can be arranged by applying the principle of interchangeable modularity so that energy consumption be minimum and not intervene on their organology. The paper highlights the dynamic-organological algorithm proposed in order to calculate motor moments and, hence, the selection of the DC servomotors necessary for setting the translation movable systems into service.

Researches on Virtual Machining Simulation of Flexible Manufacturing Cell Based on KUKA Robot

2014 ◽  
Vol 621 ◽  
pp. 499-504
Author(s):  
Tian Biao Yu ◽  
Xu Zhang ◽  
Xiu Ling Xu ◽  
Lei Geng ◽  
Wan Shan Wang
Keyword(s):  
Real Time ◽  
Flexible Manufacturing ◽  
Method Development ◽  
Industrial Robot ◽  
Cnc Machining ◽  
Control Panel ◽  
Flexible Manufacturing Cell ◽  
Manufacturing Cell ◽  
Machining Center ◽  
Cnc Machining Center

Flexible manufacturing cell (FMC) was the extension of the CNC machining center,which consisted of three portions , a CNC machining center , an industrial robot and unified by a the background computer programmable control. In order to guarantee the rationality and feasibility of the automatic operation loading and unloading workpieces , the simulation object was based on the KUKA robot of flexible manufacturing cell in this paper, which based on MATLAB/GUI and combinated of VRML language and information transmission method development between MATLAB and the simulation system of flexible manufacturing unit. According to the set up parameters and angles, the model was implemented. Through the control panel and the robot's real-time interactive simulation, 3d visualization window can be real-time display of the robot simulation, and validated the path planning. According to the simulation results of the model , it could provide reference to the actual movement of the KUKA robot trajectory planning, provided the better fully automated feasibility analysis of flexible manufacturing cell, and proved the improvement of flexible manufacturing unit operation scientifically and reasonably.

Calculus and Implementation of a TRTR Industrial Robot Servicing a Flexible Manufacturing Cell Destined for the AAV Building Industry

2013 ◽  
Vol 332 ◽  
pp. 171-180
Author(s):  
Silviu Mihai Petrişor ◽  
Ghiţă Bârsan
Keyword(s):  
Flexible Manufacturing ◽  
Geometric Modeling ◽  
Manufacturing System ◽  
Flexible Manufacturing System ◽  
Characteristic Point ◽  
Industrial Robot ◽  
Building Industry ◽  
Kinematic Modeling ◽  
Flexible Manufacturing Cell ◽  
Manufacturing Cell

The authors of this paper aims to highlight the basic design of a flexible manufacturing cell with parallel organization destined for the assembly of tires on AAV carcasses shafts, operation performed by a TRTR serial-modular industrial robot. The paper describes, in detail: the direct and inverse geometric modeling of the mechanical structure, the direct kinematic modeling of the industrial robot under study, by calculating and illustrating, by means of time development graphs, the column vectors of the generalized coordinates as well as the prehension device characteristic point trajectory that define, at a given moment, its position, orientation and movement within the flexible manufacturing cell proposed for implementation. The final part of the paper presents, based on several functional parameters mandatory for the building of the FMC, the calculus of economic indicators necessary for the optimum functioning of the cell as well as for determining the value of the robot included in its activity and of the overall flexible manufacturing system.

Design of Rotary Flexible Manufacturing Cell with Multi-Station Automatic Stretching

2014 ◽  
Vol 635-637 ◽  
pp. 1390-1393
Author(s):  
Yu Zhou ◽  
Xue Wu Hu ◽  
Xiao Ming Sheng
Keyword(s):  
Flexible Manufacturing ◽  
Production Efficiency ◽  
Size Control ◽  
Machining Process ◽  
Circular Disc ◽  
Flexible Manipulator ◽  
Flexible Manufacturing Cell ◽  
Manufacturing Cell ◽  
Automatic Loading ◽  
Improve Production Efficiency

Rotary flexible manufacturing cell with multi-station automatic stretching is designed in this paper to meet the requirements of the machining process of cylindrical drawing parts as well as the needs of different stations for multi-drawing. The cell uses fixed circular disc worktable with multi-station. Each machining station has hydraulic stretcher to complete the drawing of the workpiece. Flexible manipulator finishes automatic loading and unloading among hydraulic stretchers. Gripper of manipulator with automatic center aligning and size control can grip workpiece in various sizes and has the function of self-centering. This equipment has completely realized all the stretching processes automaticly from feeding sheet metal to sending and forming workpieces. It can improve production efficiency and quality. It can also improve safety, reliability and cost efficiency. When replacing worked parts is needed, simply replace modular mold of every station in fixed circular disc worktable.

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