Toward general industrial robot cell calibration

2011 ◽  
Author(s):  
Xiongzi Li ◽  
Biao Zhang
Keyword(s):  
Industrial Robot ◽  
Robot Cell

Easy industrial robot cell coordinates calibration with touch panel

2018 ◽  
Vol 50 ◽  
pp. 276-285 ◽  
Author(s):  
Yuye Cai ◽  
Hao Gu ◽  
Cheng Li ◽  
Huashan Liu
Keyword(s):  
Industrial Robot ◽  
Touch Panel ◽  
Robot Cell

Robotized Stacking of the Uppsala University Wave Energy Converter Generator Stator

2014 ◽  
Author(s):  
Erik Hultman ◽  
Marcus Linder ◽  
Mats Leijon
Keyword(s):  
Wave Energy ◽  
Industrial Robot ◽  
Ocean Waves ◽  
Wave Energy Converter ◽  
Energy Converter ◽  
Large Wave ◽  
Assembly Method ◽  
Assembly Accuracy ◽  
High Flexibility ◽  
Robot Cell

A technology for renewable energy conversion from ocean waves has been developed at Uppsala University. The concept is intended for large Wave Energy Converter farms and thus requires large series production lines. For this technology to be competitive on the global energy market, it is necessary to keep down the manufacturing costs. Assembly automation will therefore be important, especially if the production should be kept in industrialized countries. Stacking of the stator for the Wave Energy Converter generator is an essential task during the assembly process. The operation is repetitive and time-consuming, requires high precision and large reach and can thus be suitable for industrial robot automation. This paper presents a robot cell design for robotized automation of the stator stacking for an Uppsala University Wave Energy Converter generator. Prototype equipment has been developed and validated in an experimental stacking setup. From these experiments, it has been indicated that the proposed automation solution can substantially reduce the stacking cycle time while assuring sufficient assembly accuracy. The main advantages with the proposed assembly method are the high flexibility, the ability to lift and assemble multiple stator sheets at the same time, the ability to calibrate to the exact position of the stator sheet to be lifted and the high stacking accuracy result. The suggested robot cell is likely to be possible to adjust for stacking of other stator designs as well.

scholarly journals Simulation of a Pick-and-Place Cube Robot by Means of the Simulation Software Kuka Sim Pro

2018 ◽  
Vol 21 (2) ◽  
pp. 95
Author(s):  
Duško Lukač ◽  
Miljana Milić
Keyword(s):  
Industrial Robot ◽  
Conveyor Belt ◽  
Simulation Software ◽  
Program Code ◽  
Pick And Place ◽  
The World ◽  
The Creation ◽  
Robot Cell ◽  
Plant Components

In this work the creation of the program code for industrial robot and the simulation of a robot cell by means of the simulation software KUKA Sim Pro in version 2.2.2, is presented. Simulated and programmed is, in reality existing KUKA-robot cell with industrial robot of the type KR6 R900 sixx (Agilus) with signal connected conveyor belt. The software KUKA Sim Pro is a program for design of 3D-layouts of a plant components including KUKA-robots. On this occasion, any layouts and concept designs can be simulated and be analysed. The used components were taken from the integrated library or were partly newly created. The industrial robot KUKA KR6 R900 sixx counts to the quickest robots of the world. In this work, the simulation of the robot cell and periphery is elaborated, as well as with it, connected practical circumstances and issues with the programming of the abovementioned robot.

Multi-Objective Optimization in Industrial Robotic Cell Design

2010 ◽  
Author(s):  
Xiaolong Feng ◽  
Daniel Wa¨ppling ◽  
Hans Andersson ◽  
Johan O¨lvander ◽  
Mehdi Tarkian
Keyword(s):  
Energy Efficiency ◽  
Optimal Design ◽  
Cycle Time ◽  
Industrial Robot ◽  
Multi Objective Optimization ◽  
Multi Objective ◽  
Trade Offs ◽  
Robotic Cells ◽  
Time And Energy ◽  
Robot Cell

It has become a common practice to conduct simulation-based design of industrial robotic cells, where Mechatronic system model of an industrial robot is used to accurately predict robot performance characteristics like cycle time, critical component lifetime, and energy efficiency. However, current robot programming systems do not usually provide functionality for finding the optimal design of robotic cells. Robot cell designers therefore still face significant challenge to manually search in design space for achieving optimal robot cell design in consideration of productivity measured by the cycle time, lifetime, and energy efficiency. In addition, robot cell designers experience even more challenge to consider the trade-offs between cycle time and lifetime as well as cycle time and energy efficiency. In this work, utilization of multi-objective optimization to optimal design of the work cell of an industrial robot is investigated. Solution space and Pareto front are obtained and used to demonstrate the trade-offs between cycle-time and critical component lifetime as well as cycle-time and energy efficiency of an industrial robot. Two types of multi-objective optimization have been investigated and benchmarked using optimal design problem of robotic work cells: 1) single-objective optimization constructed using Weighted Compromise Programming (WCP) of multiple objectives and 2) Pareto front optimization using multi-objective generic algorithm (MOGA-II). Of the industrial robotics significance, a combined design optimization problem is investigated, where design space consisting of design variables defining robot task placement and robot drive-train are simultaneously searched. Optimization efficiency and interesting trade-offs have been explored and successful results demonstrated.

scholarly journals Reconstruction, Adapter Design and Application of a Nokia Puma 560 Robot's Gripper on a Robot Cell Integrated KUKA KR5 Industrial Robot

2019 ◽  
Vol 11 (1) ◽  
pp. 183-186
Author(s):  
Gábor Vona ◽  
Antal Apagyi ◽  
Timotei István Erdei ◽  
Géza Husi
Keyword(s):  
3D Printing ◽  
Industrial Robot ◽  
Robot Cell ◽  
Design And Application

Abstract This summary details the steps that were necessary to fasten a Nokia Puma 560’s gripper to a KUKA KR5 industrial robot found at University of Debrecen, Department of Mechatronics and also demonstrates its applications in the robot cell designed around its usage. It also includes the inspection and reconstruction of said gripper, and the 3D designing of its adapter. The adapter is intended for the KUKA KR5 robot, which is later manufactured using PRO-PLA 3D printing. The KUKA KR5 will also have a robot cell designed and built around it, for educational purposes.

Design of spline surface vacuum gripper for pick and place robotic arms

2020 ◽  
Vol 4 (2) ◽  
pp. 48-55
Author(s):  
A. S. Jamaludin ◽  
M. N. M. Razali ◽  
N. Jasman ◽  
A. N. A. Ghafar ◽  
M. A. Hadi
Keyword(s):  
Cycle Time ◽  
Industrial Robot ◽  
Annealing Process ◽  
Vacuum Suction ◽  
Robotic Arms ◽  
Custom Made ◽  
Pick And Place ◽  
Manufacturing Procedure ◽  
Production Flexibility ◽  
The Impact

The gripper is the most important part in an industrial robot. It is related with the environment around the robot. Today, the industrial robot grippers have to be tuned and custom made for each application by engineers, by searching to get the desired repeatability and behaviour. Vacuum suction is one of the grippers in Watch Case Press Production (WCPP) and a mechanism to improve the efficiency of the manufacturing procedure. Pick and place are the important process for the annealing process. Thus, by implementing vacuum suction gripper, the process of pick and place can be improved. The purpose of vacuum gripper other than design vacuum suction mechanism is to compare the effectiveness of vacuum suction gripper with the conventional pick and place gripper. Vacuum suction gripper is a mechanism to transport part and which later sequencing, eliminating and reducing the activities required to complete the process. Throughout this study, the process pick and place became more effective, the impact on the production of annealing process is faster. The vacuum suction gripper can pick all part at the production which will lower the loss of the productivity. In conclusion, vacuum suction gripper reduces the cycle time about 20%. Vacuum suction gripper can help lower the cycle time of a machine and allow more frequent process in order to increase the production flexibility.

SAFETY AND RISK ASSESSMENT AT AUTOMATED WORKPLACE

2018 ◽  
pp. 78-84
Author(s):  
Marek Vagas
Keyword(s):  
Risk Assessment ◽  
Industrial Robot ◽  
Industrial Robots ◽  
Added Value ◽  
Growing Up ◽  
Target Setting ◽  
Clear View ◽  
General Safety

Urgency of the research. Automated workplaces are growing up in present, especially with implementation of industrial robots with feasibility of various dispositions, where safety and risk assessment is considered as most important issues. Target setting. The protection of workers must be at the first place, therefore safety and risk assessment at automated workplaces is most important problematic, which had presented in this article Actual scientific researches and issues analysis. Actual research is much more focused at standard workplaces without industrial robots. So, missing of information from the field of automated workplaces in connection with various dispositions can be considered as added value of article. Uninvestigated parts of general matters defining. Despite to lot of general safety instructions in this area, still is missed clear view only at automated workplace with industrial robots. The research objective. The aim of article is to provide general instructions directly from the field of automated workplaces The statement of basic materials. For success realization of automated workplace is good to have a helping hand and orientation requirements needed for risk assessment at the workplace. Conclusions. The results published in this article increase the awareness and information of such automated workplaces, together with industrial robots. In addition, presented general steps and requirements helps persons for better realization of these types of workplaces, where major role takes an industrial robot. Our proposed solution can be considered as relevant base for risk assessment such workplaces with safety fences or light barriers.

Metodología para el desarrollo de trayectorias en la aplicación por el proceso de soldadura GMAW en un robot industrial

2019 ◽  
pp. 1-4
Author(s):  
Josué Rafael Sánchez-Lerma ◽  
Luis Armando Torres-Rico ◽  
Héctor Huerta-Gámez ◽  
Ismael Ruiz-López
Keyword(s):  
Mechanical Properties ◽  
Automotive Industry ◽  
Industrial Robot ◽  
Welding Process ◽  
High Strength ◽  
Test Material ◽  
Advantages And Disadvantages ◽  
Application Characteristics ◽  
Joining Process ◽  
Gmaw Welding

This paper proposes the development of the methodology to be carried out for the metal joining process through the GMAW welding process in the Fanuc LR Mate 200iD industrial robot. The parameters or properties were considered for the application to be as efficient as possible, such parameters as speed of application, characteristics of the filler material, gas to be used as welding protection. The GMAW welding process can be applied semiautomatically using a hand gun, in which the electrode is fed by a coil, or an automatic form that includes automated equipment or robots. The advantages and disadvantages of the GMAW welding process applied in a manual and automated way were commented. The mechanical properties of the materials to which said welding can be applied were investigated; The materials with which this type of welding can be worked are the high strength materials, which are used in the automotive industry, for the forming of sheet metal. To know the properties of the material, destructive tests were carried out on the test material to be used, as well as the mechanical properties of the welding.

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