EUROPEAN ADHESIVE ENGINEERadtecheducation.com/documents/results/3.Training materials... · EUROPEAN ADHESIVE ENGINEER MODULE 5.9 AUTOMATION AND ROBOTICS I03 – NATIONAL ADAPTATION

EUROPEAN ADHESIVE ENGINEER MODULE 5.9

AUTOMATION AND ROBOTICS

I03 – NATIONAL ADAPTATION AND TRANSLATION OF THE CURRICULA

ERASMUS + REFERENCE 2015 -I- PT 01- KA202 - 012915 This project has been co-funded with support from the European Commission. This communication reflects the views only of the author, and the Commission cannot be held responsible for any use which may be made of the information contained therein.

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5.9 Automation and Robotics

Objectives

Gain fundamental knowledge about automated systems, their functionality, limits and their applicability.

Be able to explain ◦ Kinematics ◦ Drives ◦ Sensors ◦ Controllers and systems ◦ Coordinate systems and programming

of an automated system

2


Contents

3

Introduction

Kinematics

Actors

Sensors

Controllers

Programming

Mechanical system-Kinematics

Actors

Sensors

Controller

Interface to the enviroment

Handheld- unit

Safety features

Programming unit

Basic Components


Definitions

4

2. Attempt of definition :

a flexible handling unit (together with grippers , sensors)

a reprogrammable, multifunctional handling device to manipulate objects along not determined path for a variety of tasks

a machine with the ability to move itself or objects in space

1. Attempt of definition:

a working machine

an artificial human

a battle- / war machine

or in means of science fiction (I. Asimov): a thinking machine


Definitions

5

The term robot

I. Asimov (1920-1992): 3 robotlaws (1942)

„Rossums universal robot“ by Karel Capek

In this story the scientist Rossom and his son develop a chemical substance, to produce robots. The aim of was that the robots should serve mankind and to all heavy work. Within the time Rossom created the „perfect“ robot. At the end of the story, the robots did not conform with the serving function, but revolted and killed all human live.

The term robots was created in 1921 by the Czechoslovakian author Karel Capek: [it comes from chech. Robota - „work, forced labour“]


Definitions

6

1. The possibility to move itself and/or other physical objects. 2. Arms, wrist and an effector, if objects have to be moved. 3. Wheels or legs if the robot is mobile. 4. Drives and controllers for the aimed movement. 5. Computers for decision making and store commands. 6. Sensors, e.g.

for contact, forces, moments, to determine the position of the robot, the bearing of the arm and the wrist to measure distances, to aquire pictures and to recognize form, size, color and movement to measure heat conductance, temperature, current and voltage to realise roughness, hardness and the smell of objects to recognize soundwaves and tones


Industrial robot - Definition

7

Definition (VDI-version): A universal applicable mechanical device with multiple axes, whose movements are free

programmable in means if direction, path and angles and if necessary sensor guided

Definition (DIN): Industrial robots are all purpose applicable mechanical devices with multiple axes, whose

movements are free programmable in means if direction, path and angles and if necessary sensor guided. They are equipped with grippers, tools or other working facilities (e.g. effectors) and are able to perform hangings and producing tasks.


Robots - basics

8

Robotic is based on 2 basic techiques: 1. Remote manipulators 2. Numeric control (NC, DNC)

Remote manipulators: machines, manipulators, effectors which are remote controlled by the user (cranes, diggers, ...)

Numerical Controls: The axes of a machine are precisely moved in accordance to a coordinate- system. Trajectories are

determined as a sequence of points in space

Combination: programmable manipulator: mechanical effectors which are programmable


Robots - basics

9

Moving device

Moving devicewith variable mainfunction

Moving device with fixed mainfunction.Changes of the movements areimpossible

Programcontrolled movingdevice

Hand operated movingdevices teleoperator manipulator

Program controlledmoving deviceChanges of themovementprogrammpartly reachable bymechnical conversion

Free programablemoving device

Without automaticprogram overrideIR with one or morefixed, selectableprograms

With automaticprogram overrideIR with one ormore fixed,selectableprograms, whichcan be chooseautomatically

With automaticprogram adjustmentIR which adjust theirprogramms thru outersensor signals

Moving device

Moving device with variable main function

Moving device with fixed main function. Changes of the movements are impossible

Hand operated moving devices • teleoperator • manipulator

Program controlled moving device

Program controlled moving device Changes of the movement programm partly reachable by mechnical conversion

Free programmable moving device

Without automatic program override IR with one or more fixed, selectable programs

With automatic program override IR with one or more fixed, selectable programs, which can be choose automatically

With automatic program adjustment IR which adjust their programs thru outer sensor signals


Robots: Kinematics

10


Actuators

Sensors

Controller


Handheld- unit

Safety features

Programming unit

Basic Components


Robots: Kinematics

11

Example: humans

human arm: 6 Possibilities of movement oder degrees of freedom: 2 degrees (turning possibility in 2 areas) in the shoulderjoint, 1 degrees in the ellbowjoint 3 degrees (turning possibility in 3 areas) in the wrist.


Robots: Kinematics

12


Robots: Kinematics

13

Kinds of axes: translative axes

• Free configurable workspace • Arbitrarily expandable workspace • Favorable kinematics for handling- tasks

rotatory axes: • Fast movements • Favorable priced for small workspaces • advantageous kinematics for machining tasks


Robots: Kinematics

14


Robots: Kinematics

15

Mechanism: basics and definitions From the point of view of the theoretical mechanics, robots are active

mechanisms, These mechanisms can be disposed in different categories.


Robots: Kinematics

16


Robots: Kinematics

17

Robots: main axes and secondary axes

• main axes to approach the position

• hand axes – Orientation of the tool in space

• tool: e.g.

– Grippers – Spray guns – Dispensing units


Robots: Kinematics

18

X, Y, Z, U, V and W for translatory axes A, B, C, D, E and F for rotatory axes Q, R, S and T for additional axes The main axes are separated from the secondary

axes by a hyphen „/“

VDI 2861 has an symbolic language to describe the configuration of he system:


Robots: Kinematics

19

e

2. axes aligned with the 1st axes e...Eccentricity


Robots: Kinematics

20

Robots: pure rotatory: RRR

All axes of the robot are rotatory. Depending of the size they have speeds from 100°/sec to 720°/sec.


Robots: Kinematics

21

Robots: pure translatory: TTT

All pricipial axes are translatory axes


Robots: Kinematics

22

Robots: hybridforms: RRT und TRR: Scara

This robot- configuration consist of a vertical translatory axes and two rotatory axes in horizontal direction.


Robots: Kinematics

23

Robots: all conventional serial kinematics cartesian cylindric spheric horizontal ellbow vertical ellbow

mec

hani

smW

orks

pace


Robots: Kinematics

24

Robots: other serial kinematics


Robots: Kinematics

25

Robots: operating space definition

The operating space is defined as this part of the moving space, which can be reached from the center of the interface between secondary axes and the tool (TCP = Tool center point) with all movements of all axes Definition (acc. to guidline VDI 2861, page. 2):

Principial axes

secondary axes

TCP (e.g. Welding torch, ...)

Interface between principial axes and secondary axes

Tool

Reference point of the main operating space


Robots: Kinematics

26

Robots: Determination of the workspace

Configuration and sequence of swivel- and thrust- joints

Moving possibility of the joints Configuration of the robot- arm

(weight,…) Type of the end- effektor Position of the robot Environment of the robot

kubic

cylindric

spheric

toroidial


Robots: Kinematics

27

Robots: Determination of the workspace

Robots in hanging positions have a larger operating space than robot in standing positions.

Eccentricities e allow to enlarge the operating space further


Robots: Actuators

28


Actuators Motors pneumat.- hydraulic

cylinders etc.

Sensors

Controller


Handheld- unit

Safety features

Programming unit

Basic Components


Robots: Actuators

29

Robots: requirements on robot- drives

Requirements on robot- drives

The positioning- time of a robot- axes should be as small as possible

High torques, because large masses have to be accelerated

In special cases: hybrid- controller between position- and force- controlling (controlled stiffness)

High positioning accuracy

High efficiency (low power dissipation)

Small overshooting IR drives are setup as servo- controllers


Robots: Actuators

30

Robots: types of drives

Hydraulic drives

Pneumatic drives

Electric drives

If the moving device has a closed loop controller with an positioning- or speed-measurement- system to generate an electronic actuating variable the drive is called Servo drive


Robots: Actuators

31

Robots: drive-perfomance


Robots: Actuators

32

Robots: Servocontroll loop


Robots: Actuators

33

Robots: Types of Electric- Motors

E- Motors

DC- Motors AC- Motors

Synchron-motors

Asynchron-motors

Stepper-motors

brushlessDC- motors

Synchronmotors withsinus current

Hydraulic drives

DC- motors

AC- motors

Synchronous motors

Asynchronous motors

Steppermotor


Robots: Actuators

34

Robots: DC- motors principle

Generation of momentum Problems: damage of the commutator


Robots: Actuators

35

Robots: AC- motors rotating field

By excitation of the 3 phases with a three phase system which is shifted by T/3, the field is rotating with the synchronous angular speed


Robots: Actuators

36

Robots: AC- motors

Synchronous motor

If the magnetic field is rotating around the stator, the rotor will rotate with the same angular speed as the rotating field (synchronous) because of the magnetic coupling between the coil and the magnet.

asynchronous motor

The stator induces a current into the rotor, which produce a momentum. The higher the difference between rotation of statorfield and rotation of rotor the higher the current. Not often used for positioning systems.


Robots: Actuators

37

Robots: AC- linear motors

Special type of synchronous motors Consist of a primary part and a secondary part Primary part: flat three phases system coil of a SM Secondary part: flat permanent magnets

advantages: No transfer from rotatory movement to translatory movement No friction losses of spindles and gears Small center of mass More than one primary parts on one secondary part. High speed applications with more than 100 m/min and up to

40 g


Robots: Actuators

38

Robots: Stepper motor

Instead of a continuous rotating field a field with discrete coils can be used.

Switching the coils in different order gives the rotor different positions


Robots: Actuators

39

Robots: Mechanical components

Spindles Gears Gear rods cardan rods etc.

Important:

Minimum backlash Small weight High ratios Small maintenance intervals


Robots: Actuators

40

Robots: Ballscrews

High accuracy Medium speeds Standart device for transforming rotary

movement in linear movement

1. An elliptic body alters with the balls and the bearing outer ring the flexible teethed body (Flexspline)

2. One rotation of the wavegenerator gives a change in the teeth area

3. Because of the difference of number of teeth of the flexspline and circularspline ...

4. ... A complete rotation of the wavegenerator results in a rotoation of the flexspline according to the difference of teeth.

Robots: harmonic drives


Robots: Actuators

41

Robots: Cyclo drives

Similar functionality as harmonic drives High gear transmission ratios No backlash

Robots: other possibilities

•Cardan shaft •Push poles •Chain •Tooth belts


Robots: Characteristics

42

Robots: main characteristics Loads

Maximum range

Workspace

Rotation speed axes 1 to 6

positioning accuracy

repetition accuracy

accuracy of path



43

Robots: load nominal load:

Marks the amount of load with which robot can work without restriction of his moving possibilities, his axes speeds and his guaranteed accuraccy of path. To define completely the load data, the load attack point is also to be fixed beside the load information. Usual used weights are 8, 1 5, 30, 60, 80, 100 or 150 [kg].

For path robots at the nominal load, e.g., the tool, sensors and the wire with the strain relief and have to be taken into consideration.

The maximum load marks the upper border of the load which can be still used under limiting conditions to be called (e.g., decrease of the load or the speed, limitation of the field of work, lowering of the acceleration values, restriction of the exactness).



44

Robots: spacing The workspace is that space which can be still reached from the interface secondary

axes/tool.

Is to be noted that within the workspace robot positions can exist, which are computable only ambiguously according to software and are not simply crossable, hence, any more.

The movement space is larger than the workspace, and with it identically with the danger area and is not usable in most cases any more for the working process. Within the movement space a person can collide with a part of the robot.

The maximum reach is the radius or the lengths of the movement space.



45

Robots: speeds The workspace is that space which can be still reached from the interface secondary

axes/tool.

Is to be noted that within the workspace robot positions can exist, which are computable only ambiguously according to software and are not simply crossable, hence, any more.

The movement space is larger than the workspace, and with it identically with the danger area and is not usable in most cases any more for the working process. Within the movement space a person can collide with a part of the robot.

The maximum reach is the radius or the lengths of the movement space.



46

Robots: positioning or absolut accuracy

( ) ( ) ( )

position command )//( Ofocusmean )//(G

C

222

CCC

CCCP

zyxzyx

zzyyxxAP −+−+−=



47

Robots: distance or repetition accuracy

If the comand positions Pc1 and Pc2 are given and the actual positions are P1j and P2j, then the position distance accuracy is give as the difference of the distance between Pc1, Pc2 and P1j, P2j where this distance is approached n times.



48

Robots: absolut vs repetition accuracy ideal positioningsystem

good repetition accuracygood absolute accuracy

good repetition accuracybad absolute accuracy

bad repetition accuracybad absolute accuracy

start position endposition






49

Robots: absolut vs repetition accuracy



50

Robots: backlash

The backlash characterises a systematic distance divergence which comes from the averages of both starting-up directions


Robots: Sensors

51


Actuators

Sensors • Position measuring

systems • Cameras • Lasersensors

Controller


Handheld- unit

Safety features

Programming unit

Basic Components


Robots: Sensors

52

The simpliest possibility to detekt position is to use switches. Switches can be categorised in

•Mechanical switches •Induktive switches (Beros) •Light barriers

Depending on the application different tactile or not tactile switches are used. To ensure the safety an to determine the origin is is necessary to mount limit switches an reference switches.


Robots: Sensors

53

Ultrasonic sensors

applications:

distance measurement

obstacle detection (near field)

measurment of the enviroment (farfield)

properties:

accustic waves in the frequency region above 20 kHz

propagation only in materials

When the soundwave hits a borderplane between two media the wave splits into a transmitting and a reflected part

Determination of the distance by measurement of the propagation time


Robots: Sensors

54

Robots: position measurement systems

Direct and indirect spatial measurement units

• Difference between the measurement unit in the way of mounting it in the system

• Direct measurement untits are mounted directly on the

moved component. They are measuring the real value (position or speed)

• Indirect measurement untits are fixed on the moved

componets by using mechanical transitions (spindels, gears, etc.). They are measuring all errors and uncertainties togher with the real value.


Robots: Sensors

55

Robots: position measurement systems

Difference in the way of movement •Rotatory movement: rotatory encoders ( resolver) •Linear movements: (glas-) gauges

Difference in the measurement type

•Incremental encoders or gauges •Distance coded gauges •Absolute gauges

Important for the accuracy of the measurement is the resoltion of the the encoder. For interpolation reasons the resoltions of the encoders are multiplied within the controller to reach a higher resoltion when approaching a postion.


Robots: Sensors

56

Robots: Optical encoders

Incident light method

The light is emmitted by the light source, and directed be the condesor and the sample plate. The transmitted light of the gauge is detected by the photoelements.


Robots: Sensors

57


Transmitted light method

The light is emmitted by the light source, and directed be the condesor and the sample plate. The transmitted light of the disk is detected by the photoelements.


Robots: Sensors

58


advantages: • Very robust encoders • High resolutions (up to 1µm) • High speeds up to 200m/min disadvantages: • The system has to be referenced • Possibly dangerous movements when switching the machine on • When loosing the suplly, all data are gone

Function: • The controller counts the pulses of the encoder and calculates the pdotion

(and the velocity). • When the reference position is reached the cotroller sets the position to zero.


Robots: Sensors

59


advantages: • Very robust encoders • High resolutions (up to 1µm) • High speeds up to 200m/min disadvantages: • The system has to be referenced • Possibly dangerous movements when switching the machine on • When loosing the suplly, all data are gone

Function: • The controller counts the pulses of the encoder and calculates the pdotion

(and the velocity). • When the reference position is reached the cotroller sets the position to zero.


Robots: Sensors

60


Absolut encoders

Additional tracks to detect the absolute position within one revolution

To determine the position within more revolutions two ore more discs in series are used (multy turn encoder, like a watch)

The position is tranfered as bit- coded information to the controller

Coding can be done by Gray code ore dual code Stadart encoders have revolutin of 210 = 1024 steps per

revolution Higher encoder have revolutions up to 217 = 131072 per

revolution


Robots: Sensors

61


Incremental linear gauge Linear absolut gauges


Robots: Sensors

62

Robots: Laser- triangulation systems (LTS)

The distance measurments by triangulation is based on the comparism of similar triangles.

Because of the deflection x, which is detected by the reciever, it is possible to calculate the distance d of the object.

Generally the optical triangulation can have different geometries, most of them can be deducted of the common description.

)()tan()()tan(

0

0

xxHxxH

Bd++⋅+−⋅

⋅=αα


Robots: Sensors

63


Measurable objects:

From the measuring principle it is now clear, why laser triangulation systems are only restricted usable with following materials:

Surfaces with small roughness (mirrors, glas, CD‘s, polished metalls, wafers). Some manufacturers offer special systems for these surfaces.

Surfaces with small reflectivity („black bodies“)

Surfaces with are partly penetrated by light (glas, ceramics, teflon)

Surfaces which lead to a dispersive reflection of the laserlight are favorable. A change of the reflection can falsify the measurement.


Robots: Sensors

64


Measurable objects:

From the measuring principle it is now clear, why laser triangulation systems are only restricted usable with following materials:

Surfaces with small roughness (mirrors, glas, CD‘s, polished metalls, wafers). Some manufacturers offer special systems for these surfaces.

Surfaces with small reflectivity („black bodies“)

Surfaces with are partly penetrated by light (glas, ceramics, teflon)

Surfaces which lead to a dispersive reflection of the laserlight are favorable. A change of the reflection can falsify the measurement.


Robots: Sensors

65


Using a laserline instead of a laserpoint a complete contour can be measured (down to precisions to 1µm)

Applications: pathfinding, position measurements after process


Robots: Sensors

66



Robots: Sensors

67

Robots: Optical sensors – cameras

If the edges of a contour is visible due to strong lightsources, so that bright and dark differences occur, the contour position and geometry can by detected by CCD- or CMOS cameras.

These cameras can be able to detect on line (line cameras of the whole camera area (array).

To create a three dimensional picture at least two cameras are necessary.


Robots: Sensors

68

Robots: Optical sensors – cameras The two generated images alone do not indicate the exact z distance of the measuring points, since there is still no association between the image points in the two lines.

The assignment of the image points is carried out by means of a correlation method (smallest error rate).

In this correlation method, the two measuring lines are pushed over each other (mathematically) until the quotient of the difference of the measured values is a minimum.

The distance can then be calculated by geometric relationships.


Robots: Controller & Movements

69


Actuators

Sensors • Position measuring

systems • Cameras • Lasersensors

Controller


Handheld- unit

Safety features

Programming unit

Basic Components



70

Robots: Controllers Calculation of the robot movement in the respective coordinate system

Calculation of the trajectories)

Transfer of the position values to the drives and monitoring of the position sensors

Communication with the environment (superior control units)

Monitoring the sensors (inputs and outputs)

Communication with the HMIs (Human Machine Interface)

Processing the robot programs



71

Robots: Controller components Central computer (CPU): The computer-intensive tasks are carried out by several microprocessors,

depending on the state of the art

Internal memory

Write and read units for external data

Positioning units: The position controllers have the function of comparing the preset position commands with the actual value of the measuring system from the central computer and passing the speed commands to the speed controllers. These tasks are handled by own microprocessors

Input and output units

Programming unit, display field

Databus (firewire, industrial lan, …)



72

Robots: Movement concepts Two movement concepts are applied in industrial robots:

-Point-to-point control (PTP),

-Continous-Path Control (CP),

Point-to-point controls can be used in all cases in which only individual points have to be approached within the working area, ie. for handling tasks, for fast movements of the welding gun between the welding tracks.

In pure PTP mode, each axis travels by itself to the programmed command coordinates. There is no coordination between the individual axes, i. in this operating mode, the resulting path curve can not be foreseen by the operator, and there is a danger of collision in the vicinity of components in a point-to-point approach



73

Robots: Movement concepts

Continuous-Path control

Specification of the start, end point and geometry of the path (straight, circular arcs, parabola sections)

Coordinated motion of all axes

Control Calculating curvature from given boundary conditions

Example: Assembly, grinding, polishing, bonding, welding, spraying



74

Robots: Movement concepts With the spline interpolation, point sequences can be connected by smooth curves. Splines may e.g. can be used to connect digitized points to curves.

There are different spline types with different characteristics, which also lead to different results. In addition to selecting the spline types, the user also has influence on a number of parameters. Often, some attempts are required to produce the desired image.

Three spline types are possible:

A - spline (Akima spline)

B spline (non-uniform, rational base spline, NURBS)

C - spline (cubic spline)



75

Robots: Movement concepts- blurring

it is not possible to change from one robot path to another at a constant speed without requiring decelerating or accelerating of one or more axes.

Therefore the point in between the paths is not reached exactly while blurring

Advantage:

Time saving (about 20% +/-)

HP does not need to be braked

Protection of the plant



76

Robots: Movement concepts- oscillating motion

oscillation amplitude

oscillation frequency

oscillation shape (sinus, rectangular, triangular)

oscillation angle

oscillation plane

Pendelamplitude

Pendelweg

Schweißmittelpunktbahn



77

Robots: coordinate systems

In motion control, reference systems are described by coordinate systems, the transitions between the coordinate systems being performed by (math.) Transformations.

Classification:

Environmental coordinate system

Machine coordinate system

Base coordinate system

Workpiece coordinate system

Tool coordinate system



78

Robots: Transformations The task of the transformation is to transform motions of the tool tip programmed in a Cartesian coordinate system into the machine axis positions.

The machine geometry is parameterized according to a modular principle. The machine is successively projected from its base point to the tool tip by means of geometry parameters so that a closed kinematic chain is formed. Frames are used to describe the geometry.

For each of the robot axes more or less a coordinate transformation is set. In succession, these transformation rules result in the movement of the robot in the workpiece coordinate system.



79

Robots: Transformations A singular position is characterized, for example, by the fact that the fifth axis is at 0. The singular position is not linked to a particular orientation here. In this position, the fourth axis is not determined, i. E. the fourth axis has no influence on the position or orientation.

In the case of articulated arm and scara kinematics, a singular position is also present when the third axis is at 0 ° or at 180 °. These positions are called stretching / bending singularity.

A further singular position is present in articulated arm kinematics when the hand point is above the axis of rotation of axis 1. This position is called "overhead"



80

Robots: Multi-Robot-Technologie Multi-robot technology is the ability to deal with one

(or several) controller (s) to manipulate and manipulate several manipulators individually deterministically

in variable groups

in different types of interpolation



81

Robots: Multi-Robot-Technologie assumptions:

no digital handshakes to synchronize robots

Interference check between the manipulators

variable and dynamic formation of groups

Synchronization of parallel-running motion tasks

no lag times of synchronously operating manipulators in the event of a fault



82

Robots: MMI (man machine interface)

deadman button: enables – disables the drives

Display: for program- code, positions, etc.

Emergency Stop: Stops the machine by making the drives current- free

Speed adjustment : for overriding speed

Keyboard: for entering codes, etc.

Keyboard

Display

Joystick

Speed adjustment

Emergency Stop Totmannstaste


Robots: Programming

83

Robots: Ways of programing

Distinction in

Online programming

Offline programming

mixed programming


Robots: Programming

84

Robots: Online programing

Online programming: The program is created online, on the robot with the aid of a program input device (operating device or similar). This process is also called "TEACH-IN". The determined position values correspond to the actual values of the system.

Advantage: No adjustment between robot program and workpiece has to be carried out

Disadvantage: When changing coordinates, the positions must usually be re-determined.


Robots: Programming

85

Robots: Offline programming:

The program is created offline, using a computer. The output values for the program are the most idealized data of a CAD interface.

Advantage: The program can be created almost in the simulation and checked.

Disadvantage: The theoretical data must be matched with the reality of the work piece (sensors, position determination => connection to sensors, actors


Robots: Programming

86

Robots: Programing machines in general

Programing languages can differ in syntax but commands have usually more or less the same context. There are commands for:

Movements: position, speed, acceleration, burring or oscillation

Sensors and Inputs: start signal, ready signals, safety signals, etc.

Actors or output signals: start signals, communication signals

Program control: loops, if then else…, etc.

Communication commands with process- sensors and control functions


Robots: Programming

87

Robots: Programing machines in general

Programing is usually done by serial programming , after one command has finished, the next command is executed .

Programmed movements start at the actual position and end at the programmed position


Robots: Programming

88

Robots: Programming machines in general Example


Robots: Examples

89

Automatic sealing system (vision based)

Fullautomatic dispensing system (2C-silicone)

Bonding of spoilers

Bonding of hook-and-loop tapes

Click pictures to play video

https://www.youtube.com/watch?v=kgla9zgOhLM

https://www.youtube.com/watch?v=zzryJZKxxdI

https://www.youtube.com/watch?v=ojAtQX2pX_c

https://www.youtube.com/watch?v=L9z-RYfAs9g

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EUROPEAN ADHESIVE ENGINEERadtecheducation.com/documents/results/3.Training materials... · EUROPEAN ADHESIVE ENGINEER MODULE 5.9 AUTOMATION AND ROBOTICS I03 – NATIONAL ADAPTATION