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

2. 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 2

3. Material Handling System 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. IE 447 - CIM Lecture Notes - Chapter 9 MHS 3

4. Material Handling System Components: Robots Conveyors Automated Guided Vehicles(AGVs) Automated Storage/Retrieve System IE 447 - CIM Lecture Notes - Chapter 9 MHS 4

5. Robots in Manufacturing Industrial robot is a o Programmable o Multi-functional o Designed to move materials, parts, tools or special devices o Through programmed motions o To perform many different tasks IE 447 - CIM Lecture Notes - Chapter 9 MHS 5

6. Robots in Manufacturing First industrial robot was developed in the 1950s Further advancements enable to utilize robots in o Variety of types o Style o Size Their functionalities may include but not restricted to o WeldingDrilling o PaintingMilitary applications o AssemblyExplosive material removal o Pick-and-place o Material handling IE 447 - CIM Lecture Notes - Chapter 9 MHS 6

7. 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 IE 447 - CIM Lecture Notes - Chapter 9 MHS 7

8. Robots in Manufacturing Robots with different degrees of freedoms IE 447 - CIM Lecture Notes - Chapter 9 MHS 8 2-3 dof Robots used in surgery

9. Robots in Manufacturing How do robots work: there are 3 power sources IE 447 - CIM Lecture Notes - Chapter 9 MHS 9 Hydraulic drive Joints are actuated by hydraulic drivers The major disadvantages are: Floor is used by the installation of hydraulic system Floor is used by the installation of hydraulic system Leaks may seen often and cause messy floor Leaks may seen often and cause messy floorAdvantages Due to the speed and power, they are used in large industrial robots 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. 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 industry There are two distinct group: Stepper motors and Direct current (DC) servo-motor driven Pneumatic Drive Usually installed to small robots Tends to have less degrees of freedom Operations are simple and less cycle times Less expensive, Since most of the robot parts are commercially available, small institution can build their own robots

10. Robots in Manufacturing How do we know the location of robot arms? o Sensors are used to monitor the motion of robots o 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/parts o Its movements should be controlled during the entire motion o Robot should also be capable of sensing their environments o Sensors provides feedback to the controller and give flexibility to robots IE 447 - CIM Lecture Notes - Chapter 9 MHS 10

11. Robots in Manufacturing IE 447 - CIM Lecture Notes - Chapter 9 MHS 11 Type of sensors being used in robotics 1. Position Sensors Monitors the location of joints Coordinate information is feedback to controller This 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 robots The task is usually performed by television cameras or sonar transmitter and receivers If the sonar or camera misses a point, undesired coincidences may occur 3. Velocity sensors Estimates the speed using a moving manipulator Due 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 distances Prevents accidents and locate the existence of work-piece

12. Robots in Manufacturing Robot movements: o Robots are feasible when they are fast but also the stability is high o The trade-off between speed and stability is sustained by a powerful control system o Robotics and Control are two joint disciplines IE 447 - CIM Lecture Notes - Chapter 9 MHS 12

13. Robots in Manufacturing Robotic movements and joints o Robots required to perform 1.Rotational movements 2.Radial movements 3.Vertical movements o Type of joints 1.Rotational joints 2.Twisting joints 3.Revolving joints 4.Linear joints IE 447 - CIM Lecture Notes - Chapter 9 MHS 13

14. 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 space o Position of end-effectors is computed based on the joints locations Backward Kinematics: Transformation of coordinates from world space to joint space o In this concept the position of end-effectors is known in world coordinate system o Required motion is computed based on this information IE 447 - CIM Lecture Notes - Chapter 9 MHS 14

15. Robot Configurations IE 447 - CIM Lecture Notes - Chapter 9 MHS 15 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 (x 1, y 1 ) (x 2, y 2 ) (x, y) L2L2 L1L1 L3L3

16. Robots in Manufacturing Essentials of robot programming Requires o The path robot should follow o The points it should reach o Details about how to interpret the sensor data o How and when the end-effectors should be activated o How to move parts between given locations IE 447 - CIM Lecture Notes - Chapter 9 MHS 16

17. 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 IE 447 - CIM Lecture Notes - Chapter 9 MHS 17