Automated Robotic Cell -...

Automated Robotic CellTeam 07

Nathan Casey (ECE)

Josh Tempelman(ME)

Michael Bissetta(ECE)

The Team

Alex Keizer(ME)

2/21Introduction Components Calculations Questions

Project Change3+ years of production anticipated on the part created by the cell

November 16 the OEM notified PQS that the part will bediscontinued in Q1 of 2018

PQS has assigned a new project to the team to replace this one

OEM

SUPPLIER

PQS

Old Part New Part


Old Project Components2 Haas SL-20 Lathes

Fanuc M-16iB/10L

End of Arm Tooling

Part Dispensing System

Part Measurement System

Cell Caging and Safety Equipment


New System ComponentsHaas SL-20 Lathes

Fanuc M-6iB RJ3iB

End of Arm Tooling

Part Loading Table

Cell Caging and Safety Equipment

Robot Mounting Base


Old Robotic ArmFanuc M-16iB/10L

6-axis

10 kg (22 lb) capacity

1885 mm (6.18 ft) reach

Quote received from Antenen Robotics


New Robotic ArmFanuc M-6iB RJ3iB

6-axis

6 kg (13 lb) capacity

1373 mm (4.50 ft) reach

Quote received from Antenen Robotics


Old End of Arm ToolingRapid Part Change Capability

Robot Arm Mounted

Modular


New End of Arm ToolingRapid Part Change Capability

Robot Arm Mounted

Suction Cups Are Industry Standard

Design Norm: Trust


Old Part Dispensing SystemDesigned and built by the team

330 part capacity (2-3/4 hour runtime)

62” x 24-1/2” x 63-1/2”

Pneumatic cylinder controlled

Gravity fed

Single-point pickup


New Part Dispensing SystemDesigned and built by the team

300 part capacity (4 hour runtime)

44” x 44” x 53”

Powered from servo to Gearbox, Gear, Ring Bearing

Pneumatic Cylinder Fed

Single-point pickup

Design Norms: Caring and Trust


Old Measurement SystemOpting to use Keyence probe (GT2-H32)

6 Hz response

Mentor recommended a touch-based probe over laser system

www.keyence.comwww.cognex.com


New Measurement SystemNone Required!!!!


Old System ControllerPLC Controlled

ab.rockwellautomation.com

Fanuc

Arm

Lathe 1

Lathe 2

Measurement

System

PLC

Part Loader


New System ControllerPLC Controlled

ab.rockwellautomation.com

Fanuc

Arm

Lathe

PLC

Part Loader


Old Cell Caging

CNC CNCFanuc Robot

Velox Post

Velox Panel

Velox Door


New Cell Caging

Light Curtain

Door with Safety Relay

Gate with Safety Relay

8020 Construction


Old Part Dispensing CalculationsAngle of Repose

𝐹 = 𝜇𝑁

Cylinder Force

𝐹 = 𝑃𝐴

𝛼 = tan−1(𝜇)

20

25

30

35

40

45

50

30 35 40 45 50 55 60

Slo

pe

of

Ram

p (D

egre

es)

Angle of Repose

30 Deg. Cut

45 Deg. Cut

60 Deg Cut

Repose Requirement

Actual Angle


New Part Dispensing CalculationsInertia of Table and Parts


New Part Dispensing CalculationsPosition, Velocity, Acceleration, Jerk


Questions?


Automated Robotic Cell -...

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