Work Cell Design and Control

1
Chapter 5

• Work Cell Design and Control

2
Contents

• Robot Cell Layouts
• Multiple Robots and Machine Interface
• Some Consideration in Work Cell Design
• Interlocks, Error Detection and Recovery
• Robot Cycle Time Analysis

3
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

4
Robot work cell layout

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

5
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_at_more
  production machines

6
In-line robot work cell

• 1 _at_ more robots located along in-line conveyor
• Work is organized so each robot performs assembly
  operation on each part (eg welding line)

7
(No Transcript)
8
(No Transcript)
9
(No Transcript)
10
(No Transcript)
11
(No Transcript)
12
(No Transcript)
13
(No Transcript)
14
Mobile work cell
15
Mobile work cell

• Transport mechanism floor mounted _at_ overhead
  railing system
• Service for more than one station
• Problem to find optimum number of station to
  service

16
Multiple Robots and Machine Interface

• Physical Interference of Robots
• Machine Interference

17
(No Transcript)
18
(No Transcript)
19
(No Transcript)
20
(No Transcript)
21
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

22
(No Transcript)
23
(No Transcript)
24
(No Transcript)
25
(No Transcript)
26
Work cell control

• Sequence control
• Operator interface
• Safety monitoring

27
Sequence control

• Sequence control includes
• Regulate the sequence of activities
• Control of simultaneous activities
• Making decision to proceed/stop/delay work based
  on events

28
(No Transcript)
29
(No Transcript)
30
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

31
(No Transcript)
32
(No Transcript)
33
Interlock
34
(No Transcript)
35
(No Transcript)
36
Error Detection and Recovery

• When a computer is used to detect and
• correct errors, this is known as error
• detection and recovery

37
(No Transcript)
38
Error Recovery
39
Error Recovery
40
Robot Cycle Time Analysis
41
Robot Cycle Time Analysis
42
Robot Cycle Time Analysis
43
(No Transcript)
44
(No Transcript)
45
(No Transcript)
46
(No Transcript)
47
(No Transcript)
48
(No Transcript)