00t Bercy work wan on aa sl yr ae mcd aioe oma veer Pe thi tn gen single robot or Gra sea @ importat vast many oft : ening topic ine po book in order to, 2Pply robotics for productive, Purposes. technology ani pry oe ROBOT CELL Layouts’ [Robot works canbe Jeyouts can be cated 1. Robotcetered et 2. Insne robert 3. Motite robot et ‘The following subsections desetibe these workcell configucatons 11.1.1 Robot-Centered Workeell ln the robot-centered eel itateted Ee *Proxiunate center ofthe cell and the eh round ie The most elementary eas ee ba Wats amangements oF Layous, These Ho three basi yper LL. the robot isiLi8 arranged in a partial eile ‘wheze.one robot performs a Singlei ecco of swaps ton on esr ech caning pe ad se daclon tests eed ese ice al ned he wortprs Forsooe of he pti the eigen ote ere ried lg compre oe rranding Se te scag apenas estan file fre be no ato eile for ups poporon afte cp, (Saar scox epee buono wel Fiotstve ofa case egurat te obo ula Eira gceching ta arent, Mt Robor-cemered weitell iyo wae al wks. ‘an soon of the robo-cenired ln whih the rbot. pets ane ote ae wecng. ie ase he et soompi the poston eft el ar lasing a produsion mache nl ite hpeemere tl seen to eleing te sett nalts be pried Conteyor, ar fenders SHEEN ites sod pte are te meas or senna oto ‘hing scat lose molding, an ober ete production operations _- Me dicrt pre prostion ave sxnpier of his cve Thee devios ore eed ‘Stsen he pat fhe robots nos losaon sod erenton for pooper ‘id p. in ace welding, homan operators as ofen wed to aecomplsh he pate Eiind and unoating fnaton forte fob TereSnds fel nous for ore welding or lecueed in Chop. 1 ayd.2 In-Line Robot Cell “ihe ntine ell arangeniet potted in Fig 11.2, the robot is Jest long inovig eanveyor ar other banding system and peronmss task onthe produc bs it troves past on the conveyor Many of Ue inte cell yout involve more i, 8 ‘ingle rbot placed ong the moving line: Acoaton example af this el ype see ase tte acembly lane the aogier Robots are post bok | te caper th system to msintnin nce urate regustion betes the rabot and Uh aoe Tonge tram iso op nd wld heat ly meron pl The ce RES Shanley that con be uel wl line cel onpunio an 2 Contanurimaer : 3: Nowsyamoe ane o ee Pip th2 Jodie rtareort Ameritas frome worsen sng th ino ie est Kirsomces ela gece ‘ee ests on arse moved simlananuly aad eeptrs ‘ina sniomry locaton and constitater ane poston slong the inet wc rt froin stup fr prosessng. The advange pseal by their a Syst in eb appeations i hat the parte be opted in fies cation sl ‘Seen widest ta thot ica work ele 3. Continues transfer systew. ‘This rican ofthe part elt the edt Ecce apis tne consnnovs terse act mc el Wi tse of wansfr system, the watt are moved conan ttetine ata onsn sped, This wes that he ion and ois pat Saubevavedbyeing cnc we ma ne Mons eae There (©) Amovingtastine tracking wystem (© Asatomry basting tacking system G0) The moving baseline tacking system Ww les “anspor sytem to move the robe long pt aril the workgatwi the operation ts performed o te pat Tn postin ft aad rbot rerasin conan tagie Wil is angeneat est ay sitions dg fons therobottomave sng the conesyor his stom desoc stconplied by mounting the robot on cat wich ean be mene al paleo the conveyor. Ths soliton holes eonstrele ep erpencs© men One of he oertinal problems tat mat F5 woduion Ie wih seal robot te Prehom betwocnebott ance ations fhe peoblem ist ste te abot suficel o ten into acount ine design otal ier nelson rite line. The exsetny solve rd th possi ot meteor LSttiohary baseline tracing system Yo 'y position tong the tins bt ts manipulators othr "acm coon mane hae or soon rani ci, ation ote ns sen gh nlc sony ting ching syn re consi ing fe avestficen computations and contol analy wo sceomtaeeciog Pa els tht the eg motion patter of te manele econ luted in sce in resto poral athe conyers ta spent ota sth conveyer: Thisllows the relative positon of heed ello on the pat ‘obs maimained diving the ete sedan pbc late tothe ft feo, ened wit the obo tacking wlohe tachng wind’ ete ious wove along the conveyor. This concept i illustrated is Fig. 11.3.Allowances ‘Me pbc ivaies he snsing of he pot on te sneer te oot ilongtiga sation 1.3 Conc f racking window’ Foe cits fn whic dren product modes wil be proces, x aie system, ‘us be wed fo Meni which moda ie being delivered tothe abst A sensor Ie abet Col Design and Control (805) : sls equi to detent the par has eo tacking wind at te ‘obot cn commence ir wrk ele Others ve nnd vo wack the poston tnd velocity of the pa ding te yee oa neonate wih the robet facing ‘yin is sky to pesine tha here wil bo arsine in te octon seeped ‘tthe para it beng proved Auntincrgnm an he hed et tipont ytem aea: ‘teasing sar, nc pr moves narpncny sng the Coney ‘op-andg asic, When spuensy werksatan as onileed tspeccomget a tnt pot proces tomers owned he entation athe ne Hone o¢ny [ren moment sta wep ts tring proommel wile thr ar ced tween, ions Th dsignand opin ofthe ype steatr sytem mor competed Sete oes en chp ved wt ecm ep ‘et tyetot wed in enjuncin wit the powerandee codes conisated tis for the contin aster method. Fete nese Uiing af ans on the ‘owsynchronous tase ster, Sensors mst pode 1 nat the oot. then to begin wrk eee The more complex problems Of estan betwee {he robot andthe pa tnt mast be aviv be cotinuously moving ceweyer ‘tems are not encounter citer the nein tanto or tienen syectroness sg. Mobile Robot Cells tine varous pac tepipnen wih tee The Oyealy second by menting te rotor ns woe base wih cas etapa em Sse “Thera systems usd inrobt eels are ete tka fed othe Noor the pl crotecoad ral syne igure Ut states te cncspof te wark-aaoo ‘aan, while the overead el sytem i shown in Fig 13 Te adv ft ‘reheat system camped 1 the Mooceoutad ack sytem ie ha es Roe ‘ices equire.Thecinsrantage rth acest cat of cosinting he eet (a) oot oad) S97 ina abbot cl