Chapter 5 Work Cell Design and Control. Contents Robot Cell Layouts Multiple Robots and Machine...
-
Upload
winifred-doyle -
Category
Documents
-
view
268 -
download
8
Transcript of Chapter 5 Work Cell Design and Control. Contents Robot Cell Layouts Multiple Robots and Machine...
Chapter 5Work Cell Design and Control
Contents•Robot Cell Layouts •Multiple Robots and Machine
Interface•Some Consideration in Work Cell
Design•Interlocks, Error Detection and
Recovery •Robot Cycle Time Analysis
IntroductionStep of a company to implement a roboticsprogram in its operation:• Initial familiarization with the technology• Plant survey to identical potential
applications• Selection of application• Selection of the robot• Detailed economic analysis & capital
authorization
Robot work cell layout•Robot-centred work cell•In-line robot work cell•Mobile work cell
Robot-centred work cell
Center of work cellHigh utilization of
robotMethod of work part
delivery (eg: conveyor, part-feeders, pallets)
Install for single robot servicing 1@more production machines
In-line robot work cell
1 @ more robots located along in-line conveyor
Work is organized so each robot performs assembly operation on each part (eg: welding line)
Mobile work cell
Mobile work cellTransport
mechanism: floor mounted @ overhead railing system
Service for more than one station
Problem: to find optimum number of station to service
Multiple Robots and Machine Interface•Physical Interference of Robots•Machine Interference
Some Modification in Work Cell Design• Modification to other equipment in the cell• Part position and orientation• Part identification problem• Protect of robot from its environment• Utilities• Control of work cell• Safety
Work cell control•Sequence control•Operator interface•Safety monitoring
Sequence controlSequence control includes:•Regulate the sequence of activities•Control of simultaneous activities•Making decision to
proceed/stop/delay work based on events
Operator InterfaceOperator to interact with robot work cell.Operator interface is required to:• Program the robot, modify and update
programs• Let human operator participate in work
cycle• Do data entry by human operator• Do emergency stopping activities
Interlock
Error Detection and RecoveryWhen a computer is used to detect andcorrect errors, this is known as “errordetection and recovery”
Error Recovery
Error Recovery
Robot Cycle Time Analysis
Robot Cycle Time Analysis
Robot Cycle Time Analysis