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.

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.

scholarly journals CREATION AND ANALYSIS OF THE STRUCTURE OF INTELLECTUAL DIAGNOSTIC SYSTEM OF INDUSTRIAL ROBOTS APPLIED IN EQUIPMENT MANUFACTURING

2021 ◽  
Vol 11 (07) ◽  
pp. 72-80
Author(s):  
Banovsha Valiyeva Banovsha Valiyeva
Keyword(s):  
Power Supply ◽  
Flexible Manufacturing ◽  
Manufacturing Systems ◽  
Manufacturing System ◽  
Flexible Manufacturing System ◽  
Industrial Robot ◽  
Diagnostic System ◽  
Industrial Robots ◽  
Main Research ◽  
Current State

Based on comparative analysis of the current state of the issue, the main research tasks of the study were put in order to solve the current problem. The structure of the automated diagnostics system of typical industrial robots applied in flexible manufacturing systems of the appliance industry has been proposed. , The scheme of stable diagnostics of industrial robots applied in the flexible manufacturing system and also their mechatronics parts was proposed. To ensure the sustainability of the automated diagnostics of the industrial robot operating in the robotics complex, a scheme consisting of general diagnostic testing tools of the automated process control system, means of replacing faulty elements and diagnostic decision-making subsystem has been proposed. The automation scheme of the diagnostic system of technological equipment controlled by digital software, which is serviced by industrial robots in the flexible manufacturing system under study, has been proposed. The analysis of the proposed architecture of the industrial robot and its mechatronics diagnostic system was carried out. In one work turn, for the automated diagnosis of mechatronic parts of an industrial robot, the accuracy of its operations, hardness, power supply, oil content of mechanical parts, etc. requirements for verification of technical procedures have been identified. For the analysis of the architecture of the control and diagnostic system of the research object, the regulation of linear and angular displacements of the industrial robot at hierarchical levels (level 1), software testing of the current state of its execution mechanisms (level 2), automated workstation and control node connection is provided (level 3). For the automatic diagnostics of the industrial robot, the requirements for the sounds generated between the kinematic displacement points are in the accepted sound range, the vibrations in the kinematic displacement points are in the required range, and the power supply is in the required range. Automation of control and monitoring functions of the diagnostic system with the help of the server of the local industrial network of the industrial robot performing service functions in production is provided by SCADA. Keywords: instrumentation industry, flexible manufacturing system, diagnostic system, industrial robot, mechatronics part.

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.

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.

Sign in / Sign up

Export Citation Format

Share Document