IE 447 COMPUTER INTEGRATED MANUFACTURING CHAPTER 9 Material Handling System 1 IE 447 - CIM Lecture Notes - Chapter 9 MHS

IE 447 COMPUTER INTEGRATED

MANUFACTURING

CHAPTER 9Material Handling System

1IE 447 - CIM Lecture Notes - Chapter 9 MHS

Material Handling System

Material Handling is the movement, storage, control and protection of materials, goods and products throughout the process of manufacturing, distribution, consumption and disposal.

IE 447 - CIM Lecture Notes - Chapter 9 MHS

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The Material Handling System (MHS) is a fundamental part of a Flexible Manufacturing system since it interconnects the different processes supplying and taking out raw material, work-pieces, sub-products, parts and final products.


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Components:• Robots• Conveyors• Automated Guided Vehicles(AGVs)• Automated Storage/Retrieve System


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Robots in Manufacturing• Industrial robot is a

o Programmableo Multi-functionalo Designed to move materials, parts, tools or special deviceso Through programmed motionso To perform many different tasks


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Robots in Manufacturing• First industrial robot was developed in the

1950s• Further advancements enable to utilize robots

ino Variety of typeso Styleo Size

• Their functionalities may include but not restricted too Welding Drillingo Painting Military applicationso Assembly Explosive material removalo Pick-and-placeo Material handlingIE 447 - CIM Lecture Notes - Chapter 9

MHS6

Robots in Manufacturing• A typical robot consists of many different part

connected to each other• Most robots resembles a human arm• Its motions are controlled by a computer program• Depends on the type of robot, movement

capabilities of them are measured by the term degrees of freedom


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Robots in ManufacturingRobots with different degrees of freedoms


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2-3 dof

Robots used in surgery

Robots in Manufacturing• How do robots work: there are 3 power sources


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Hydraulic drive

Joints are actuated by hydraulic driversThe major disadvantages are: Floor is used by the installation of hydraulic system Leaks may seen often and cause messy floorAdvantages Due to the speed and power, they are used in large industrial robots Also desired to use in the environments where electric-driven robots might cause fire etc.

Electric Drive

Comparison to Hydraulic systems, less power and slower speed

Most common robot types in the industryThere are two distinct group: Stepper motors and Direct

current (DC) servo-motor driven

Pneumatic Drive

Usually installed to small robotsTends to have less degrees of freedomOperations are simple and less cycle timesLess expensive, Since most of the robot parts are

commercially available, small institution can build their own robots

Robots in Manufacturing• How do we know the location of robot arms?

o Sensors are used to monitor the motion of robotso Motion of robots is sustained by the power based

on the given input (computer algorithm)o Once the order is given, it is important to know

the location of robot’s arm/partso Its movements should be controlled during the

entire motiono Robot should also be capable of sensing their

environmentso Sensors provides feedback to the controller and

give flexibility to robots


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Robots in Manufacturing


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Type of sensors being used in robotics

1. Position Sensors

Monitors the location of jointsCoordinate information is feedback to controllerThis communication gives the system the capability of location the end-effectors, which is the part usually performs the tasks.

2. Range sensors

Measures the distance between a point in the robot and interest point that surrounds the robotsThe task is usually performed by television cameras or sonar transmitter and receiversIf the sonar or camera misses a point, undesired coincidences may occur

3. Velocity sensors

Estimates the speed using a moving manipulatorDue the the effects caused by, mechanical force, gravity, weight of load etc, desired speed and required force to reach the speed should be computed continuously

4. Proximity sensors

Sense and indication of presence of another object within specified distancesPrevents accidents and locate the existence of work-piece

Robots in Manufacturing• Robot movements:

o Robots are feasible when they are fast but also the stability is higho The trade-off between speed and stability is sustained by a powerful

control systemo Robotics and Control are two joint disciplines


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Robots in ManufacturingRobotic movements and joints

o Robots required to perform1. Rotational movements2. Radial movements3. Vertical movementso Type of joints1. Rotational joints2. Twisting joints3. Revolving joints4. Linear joints


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Robots in Manufacturing• Analysis of robot motions:Forward and Backward Kinematics concepts• Forward Kinematics: Transformation of

coordinate of the end-effectors point from the joint space to the world spaceo Position of end-effectors is computed based on

the joints locations• Backward Kinematics: Transformation of

coordinates from world space to joint spaceo In this concept the position of end-effectors is

known in world coordinate systemo Required motion is computed based on this

informationIE 447 - CIM Lecture Notes - Chapter 9 MHS

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Robot Configurations


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LL Robot: Base is static, arms are linear joints

RRR Robot: Base is static, arms are rotational

joints

TL Robot: Base is rotational and the arm is

linear joint

(x1, y1) (x2, y2)

(x, y)

L2

L1

L3

(x, y)

(x, y)

Robots in Manufacturing• Essentials of robot programming• Requires

o The path robot should followo The points it should reacho Details about how to interpret the sensor datao How and when the end-effectors should be activatedo How to move parts between given locations


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Robots in Manufacturing• Essentials of robot programming• Programming techniques

o Teach-by showing:• Robot can repeat the motion already been done by the programmer

o Textual language programming• A computer programming is written using logical statements

• Some of the languages are:o Wave, VAL, AML, RAIL, MCL, TL-10, IRL, PLAW, SINGLA and ACL


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IE 447 COMPUTER INTEGRATED MANUFACTURING CHAPTER 9 Material Handling System 1 IE 447 - CIM Lecture Notes - Chapter 9 MHS