Chapter 5 Work Cell Design and Control Contents

Contents • • • Robot Cell Layouts Multiple Robots and Machine Interface Some Consideration

Introduction Step of a company to implement a robotics program in its operation: •

Robot work cell layout • Robot-centred work cell • In-line robot work cell •

Robot-centred work cell Center of work cell High utilization of robot Method of work

In-line robot work cell 1 @ more robots located along in-line conveyor Work is

Mobile work cell Transport mechanism: floor mounted @ overhead railing system Service for more

Multiple Robots and Machine Interface • Physical Interference of Robots • Machine Interference

Some Modification in Work Cell Design • • Modification to other equipment in the

Work cell control • Sequence control • Operator interface • Safety monitoring

Sequence control includes: • Regulate the sequence of activities • Control of simultaneous activities

Operator Interface Operator to interact with robot work cell. Operator interface is required to:

Error Detection and Recovery When a computer is used to detect and correct errors,

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Chapter 5 Work 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

Introduction Step of a company to implement a robotics program 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 cell High utilization of robot Method 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 cell Transport 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 control includes: • Regulate the sequence of activities • Control of simultaneous activities • Making decision to proceed/stop/delay work based on events

Operator Interface Operator 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 Recovery When a computer is used to detect and correct errors, this is known as “error detection and recovery”

Error Recovery

Robot Cycle Time Analysis