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ROBotics UNIT 4,5
ROBotics UNIT 4,5
130 oashanyaelaatyiaae denser ona te Principle of force and torque :|, (Contact rod proximity sensor : 7 oer 2... Non-contact proximity sensors ° "Anewer s a o + (@) Optical proximity sensors Foreefforque Sensory (©), Capacitive sensors + ©) Fibre optic scanning sensors i ilizes the principle of strain Hall-ffect sensors fue. When a force is applied on a stan gauge it sense @ ing the resistance of i x (©) Inductive sensors por rear’? of i The amount of change depends era (9. Eddy curent sensors °(@) Pneumatic sensors (®)_ Scanning laser sensors. Red Proximity Sensor | HUGE The sensor conists often ‘sensor utilizing strain ular rings ie, i Ree end-effector | Contact or. AS the force is applied on w a Finer g MANC® a oe end of ing The chaste 4] | pincometer lM the movement of the needle of ‘Scanned with CamScannerUNIT~4. Robot Actuators and Feedback Component A simple type of contact proximity sensor is shown in figure, It ally comprises of a r° ; a gure, It essentially comprises of a ftom one end and a monitoring component (ie, switch to change the position of an object, located inside the body Of sensor. The ‘monitoring component can algo be placed anywhere on robot's arm or Wrst. Initially, due to moyement of arobods manipulte, the rod comes in contact with an object or obstacle, by which the sensor becomes active. Tis results in change of state of switch, Ge., ON/OFF) and is monitored by robots input or output interface, to perform required operation or task: 5 _ This type of sensor, enables he sensing of obstele and object simultaneously. However, coniact proximity sensor cao, give any information about the naturé of shape of either object or obstacle. But, theuse of arrays with this type of devices furnish, some degree of object recognition. —— : | | Q41, Describe the working of optical proximity sensor.» i : . ef | | | Answer ite ‘A:simple type of non-contact proximity sensor is shown in figure (1) It operation is based on the principle of reflection, light from an object,An optical proximity sengor comprises a source of light», LED and a detector (usually photodiode). These are fitted symmetrical towards one another and are separated at a distance of about 8 to 10 mim. The light rays coming from the ‘Source and detector, intersects on the same plane in the form of long cone like volume, which defines the'sensor field operation: “The cones of light is reflected and intersected by a reflective surface: Thus, the reflective surface is illuminated by the source and geen by the receiver simultaneously. Proximity can also be moitored in several directions suchas beneath and ahead of robot's » hand, if'many sensors are used and are placed on a robotic gripper. =, nee aS ‘A graph is plotted to show the variation between the object distance'from thé réceiver and a photo detector voltage. “! 242, Expl Answer! ine mat choos _pddy Current Sensors” sets obs Poeeteiar a, : ae ructing plate is placed between the two magnetizit i, “to the di “aig set acs a psy Set lads Se oes ea oe “generated eddy current wil b propational fo te velocity of the conducting plate nd it will viry with respect tt rs ysically eddy cuenSensors ate oftwotypes, They arg 098 Rady current tachometer : ‘Scanned with CamScanner"Paty Current of te eddy carrest tachometer is to The operation of eae dy current hype achomneter is shown in ‘ Figen dy Corest Tachometer = The eddy carvent tachometer cousists Of a permanent magnet, it can be either two pole or multiple pole magnet ” Magnet is positioned on coe cod of the shaft and free end of ‘shat is od to make contact with the rotor whose angular ‘velocity isto be measured An eddy coment cup which is nothing ‘pets conducting material is located the magnet It is carried by ¥,— Vector potential ‘ill be damped. As a result the amplitude decreases. With and ‘without a conductor in the presence of field prodnced by the ‘coil, the impedance of the LC oscillator circuit becomes high and low. So, the current becomes low ad high respectively. ‘The following characteristic curve shown in igure (3) which is ‘drawn between the oscillator current znd distance of conductor from the coil shows low and high values of carext. ‘When he sais in contact with actor (which s rotating), ‘te sha seme along wit magact. Du to this fx passes through, - the cap Wt the change inthe rotation of he magnet the rection of aldeced fix ako changes causing the alicmate fax density (B) ‘wéevelopia the cap. Therefore, an cecaric fel is produced with (tera of change of fr density B. eB Cat E = ‘Then clot fed wil generate ely corent inthe shell The generated eddy current density is indicated by e trees aainY magaetic ld of eat H. teition D aaner aes Tyco ; intensity Hd ety Fe CWB RS ty i Dae to these two magnetic fields a torque is generated * Se ASI wc propria othe engl y Current cop is restrained by torsion spring, Se sointsdefecion of spindle occurs and is indicated over 8 Figsre (3: Carve Showing Carreat Vs Distance Characteristics ‘conductor size should be sufficiently large so that the varudons produced by this sbould wot aet the expt ‘current. The conductor should have greater thickness than skin depth ds, which is given bo con ae abc 0 OED sts do altrated wale by pointer, 2 ‘Scanned with CamScannee{uni “5 Reber Abpcaton in nontce ; z s Q9, Sipait oa obelocks gsinumhgepermee teat a s ee Answer 2 ¥ © pitov 1000218, (R18), QTD) | Mode! Papert, a10(ay, Machining isa metal working process in which ihe shape of the part ib chinged by removing material with acuting tool in generally secondary process to produce final form alter primary process such as casting ot forging provides basic shape of = ‘There area numberof different machining processes s mt afin, ling ng, shaping, plein sd riding : Robots used to perform the loading and unloading functions in machining operations. The robot is typically engaged to load a raw workpigce i in to machine tool and to unload the finished part at the completion of the machining cycle. The features” - “0 Saal gros -- Gi) Upto six joint motions (Git) . Good repeatability siler ea (iv). Pelletizing and depalletizing capacity (Wy “Programming features ete What are the considerations of Robots in processing applications? 5 i OR What are the considerations of robots in material handling? pata be ein ier fools ins () Part Positioning and Orientation sence eine Speman netsh w Gripper Design.» favs iy y For the pick and place operation, Sisingushedendefetore “Minimum Distance Travel _ “The distanc# traveled by the psn the material handing operation should be minimum. ™ Robot Work-Volume Tbe amount of work caried ou Robot Weight Capaclty. Fi, Se ase nhetatirererntin seit 1&9: ‘Scanned with CamScannerTachine Optimum Utilisation: i" ‘Atypicl pallet configuration ie shew tiga belo Bach ooo aaaee ona beetecivetisnceary taal | stn is ped aa difee imatom rte pallet be vate a ‘he equipments inthe cll should be used at optimum | In carton location isin hee dis versions, ‘The pullers ate i a tacked on topof eae other in layers, strom in fang Jer to ensure the optimum utilisation of | che fie mbots should work effectively, 1 Configuration, DOF's, Control, ete j esd, ies degree of freedom’s are required in the aaerovans of machine lating. tn the ‘operation of ae snd picking pa fiom conveyors, the © Pepitementsforeontol are more complicated. “Qt, Describe the materlal handling Operations. — Answer 3. eae NowsDec.-17, (R13), Q10(a) | “Material handling operations involve usage of robots to ‘move the parts from and tothe machine and to load or unload, the pars from the machine, The three main operations are, "Machine Load or Unload : ‘While doing operation on.a production machine, the loading of raw materials and unloading of finished products is done by ‘robots This reduces the human effort and ensures minimum “wastage of time. For example, in case of machining operation, ‘the job to be machined is fixed in the machine and the final part is ‘collected by the robot after completion of finishing operations. (2. Machine Loading“ 7°”: : % this operation; the robot only loads the raw materials fr schicng. wbile the fished pars are collected by separate The robot is to be programmed to perfortn desiced Pattern in palletizing operations. Also, sensuts are incorporated 1 identify carton locations td thei delivery pot, Depalletizing operation is the reverse of paltetiing, in which, the robot removes cartons from a palles and places thera onto a conveyor or other location, a—a—r—— Q13. Explain simple pick-and-place operation of the robot. ANSWER 5 (NowDec.A7,(R12}, Q10(e)| Modal Papert, Ct02 In pick-and-place operation, the robot pickups the part at one location and moves it to another location. The part is available to the robot by mechanical feeding device or belt ‘conveyor in a known location and orientation. A simple lirsit switch is used to stop the component to allow the part to be | stipped by robot. The robet then moves and ponition the pat sta | desired ocation The retaton ofthe par remain banged m ing luring the travelling. The basic operation 1s shown in figure. i _ Example: Die casting and plastic moulding a an) nth ut thal borane of bacon i 10 order to itmprove the préduttion rates, the robot rrequited to lift component from pickup point and put it dow at | Bssisted workhouse is, developed, in which, a production the drop-off point and second DOF is needed to move the part Ie desioneden es Sto ate located. These workhouses ate between these two positions. In some cases, a reorientation of | | | | “sere, lis operation, the rw materials are loaded by some “extemal sources and finished parts are unloaded by a robot. 3 es for different operations. Some are designed | the component is accomplished during the move perind. ‘ub tht same identical pars ate produced, while, in some | =— ovkhouse, diferent types of models on different machines erent times are In oth eases, robot plays key z ace eh NoviDeeea7 ay.) | » tor mlttnaetial transfer application frobot; pallets are used | | Grmateal hadtng and serge merge te Norage. ‘containers Fill ona ral, ned ef handing nities error ote Moved mechanically within the manufacturing Sanding on nse forklift trucks or conveyors, The only pce indivi cartons aries, when the component , Maite cy cra nn i is onto al ‘Scanned with CamScannerUNIT:5 Robot Application In Manutacturt “sia * Q14. Dincuss the use of Industrial robote In (i) Degrees of freedom © > : + Gasting operation. - ey ‘To manipulate and potition the port in the machine tog), ~Anawer 1 2 robot requires more number of degrees of freedom of the arm, © Die-cast products comprise withthe bull components |‘ wrist : : ‘ ‘manuftctured by the automobile industry auch as engine parts, | (il) Good Repentability ; ‘ete. Robots plays a vital role in automated die-casting operation ‘To position the part into chuck or other work holding ‘with respect to, devices; robot requires comparatively high level of precision, _- “A. Cost-effectiveness. sie ‘| dv) Palletizing and Depalietizing Capabilities 2. Improved working conditions, ‘Tho use of robot is to} las the sew wor pare coal 3. Quick product changes etc, 4 (palletizing) and move it to the work cel remove | Uses of Robot in Dle-casting : swork parts from pallet (depalletizing). The robots controllet and Uses of robot in die-casting are as follows, (@__ Low cost of robots leading to cost effective automation with quick return on investment. ii). Increased requirements for system flexibility to ‘produce multiple die-casted parts. : (iii) Ever increasing focus on the human factor/work cell safety. Gv) Variety of production rate requirements based on market for cait products, : (©) Cycletime requirements, (vi). Life cycle of manufactured product to ensure return on investment. (vii) Product handling requirements. (vii) Maintenance requirements. (ix): Safety standards rélated to heat and gas exposure in die-casting operations etc, Factors to be Considered for Automated Die-casting ” following factors are considered, (i Product and die design Gi) Environmental factors (iil) End-effect design Civ), Floor space saad “<(W)__Play load and robot selection (vi) Cyele time validation (vii) Part cooling requirements (viii) Flash timing * “(Gay Part transfer/exit (4) Como nginetng and rbot progamaing, G6. What are the desirable features of a robot "The desirable features of a robot forsuccessful machine"|. ~ tool load or unload applications areas follows, @.. Dual Gripper — st i © tallow the robot to handle the raw material and finished work parts simultaneously, due to whic! ch the production eycl "| programming capabilities must be sufficient to. accomplish the specified task, () > Prograrnming Features “The use of robots allows several programming features jn machining applications..In batch production of different ’| parts, the change over of set up is required from batch to batch, ‘This change over causes the change in robot program among different batches. Thus, the robot must have high storage ‘medium like disks, tapes, etc., for storing and changing arge ‘mumber of programs in between batches. Robot requires another programming feature for machining i.c., it must be able to accept programs for tool or pallet changes. +Q16, What Is the role of robots in loading and unloading? ‘State and explain the application of robots in machine loading and unloading. Answer: © Weuroee 16, (R13), tea) Robots are used for loading raw materials and unloading finished products in manufacturing process. Inereaes the rate of production and minimizes the dle time, 3. Robots are highly efficient, while working in hazardous © environments. : ai 4:_- The parts are loaded with high ‘accuracy, thereby ~" eliminating human errors, Robots are also used for loading of tools, special fixtures. orattachments, ee, onamachine. Handling of, machine tool in a work cell, containing “The robot is used to load ihe finished r Dace Sale tal fet pet ‘The parts are loaded on functional testers, ‘Measures the resposes of system to certain controlled ~ Use oftobots ineredscs he ail of the syst ., Tedees the material handling costs. s wget ‘They are: effectively use zi ‘unloading tarps m1 lene z “SIA. GROUP: ‘Scanned with CamScannee[NovsDbe.-17, (R13), Q11(6)| Modal papers, A10(b)) answer t $ into the cavity of « mould (die) under age oy die consists of two halves that are __ NF closed by adie casting machine, During operation, _ etEe is elosed and molten metal i injected into the cavity sae oe siemal energy source like pump. When the metal gets ied, te di is opened andthe casted component is ejected eis which push the component away from mould cavity. Type ich is removed fom the di casting machine eel ‘heat treated (quenched). Hence, a typical die- ‘casting manufacturing eyele consists of casting, removing the ‘fom the machine, quenching and trimming. Generally, the Frodoation ate ofde-cating process is about an average 400 ‘openings per hour depending upon the machine capacity, Inreference to robotics concept, the die-casting process represents relatively straight forward application: The limit ‘itches are used to interlock the robot cyclic operation: The - progratming ofthe robot is done to operate gripper to remove part from the die, when die is opened. The process requires only hat the robot unload the die-casting machine, since the metal the molten state before the part is forme : _ Novdec.18, (R18), 1040) ‘Robots are used in plastic injection moulding machines ‘formass production. The figure below shows the plastic mould- ‘ng operation with incorporation of robo. Diecastingis one ofthe manufacturing process in which ‘ Ic apot walding, aro tho advantages of robotic welding ‘over manual welding, OR Explain tho uso of robots in the fleld of spot welding. Answer: [Novibee, 18), Q11(0)| Model Papert, a10(0) The welding, which involves fusion of two metals through electrodes or welding guns is known as spot welding. |In spot welding, fusion is obtained by generating heat at the ited point, through electrodes. The electrodes are supplied with current for specific duration of time, depending on the ‘metal thickness, A robotic spot welding consists ofa robotic manipulator, welding gun, controller and power sources, The manipulator with several number of degrees of freedom is utilised. The ‘welding gun is situated on the robot wrist in connection with controllers and power sources. Operations ‘The two metal pieces are placed on the work table, Then, squeezing of metal surfaces between the electrodes is carried by generating heat for specific time. Thus, welding is done by application of load and heat on the metal surfaces. The robot, then releases the metal surfaces after welding operation. J conrtise mio ‘lpure Pastie settee en T y be linear (cartesian) of articulated arm pas cut bot ae ncusedon ee te fined ony Fe asain axis ofthe robot a1 90° tothe moulding transverse) or in line with the moulding machine {{ . Figure: Robotic Spot Welding ‘Advantages of Robotic Welding Over ‘Manual Welding 1, © Robotic welding consumes less time than manual welding. Hence, the work can be performed quickly: 2. Bfficient and accurate welding can be achieved by using robotic welding, — E : 3, Accurate welding results in conservation of materials. ‘Welding is reliable and repeatable with high rele ‘Welding can be carried out in hannful environ Work able "Robotic welding reve he ot of about and arse ‘Scanned with CamScanner. UNIT-5 "Robot Application In Manufacturing ‘020. What are the desired capabilities and features, of robots in spot welding? Explain. “Answer: = «Following ae the capabilities and features of robots to | ‘Perform spot welding, A It should have enough | yload ‘capacity 0 Taal ilate the welding gun forthe application, It should be able to position and orient the welding gun ‘Over surfaces of the product that are difficult to reach, Tt should have increased number of degrees of freedom: that help in carrying out the process with great ease. Capacity of controller memory must be large enough ..... f0store many positioning steps required in the welding process. «With change of models, robots must-be able to switch -from one welding sequence to other... 6. Spot welding by robots leads to’ ienproved product quality in the form of more consistent and better repeatable. locations of the welds. It leads to improved safety due to the absence of human 4in the work environment, thus preventing hazards like “electrical shocks and bums, At gives better control over the production process, leading to improvement in areas‘like production scheduling and in-process inventory control. Ire welding? Following are the features of robots in arc welding, * Work Envelope and Degrees of Freedom ~ Work eny of robot must take into consideration, the _ «size of the parts being welded and space required for the manipulation of welding torch. Generally, an arc welding robot requires five to six degrees of freedom. Lesser degrees’ of freedom affects the motion capability ofthe’ anil. Motion Control System , “ Robots should be able to produce ‘smooth continuous motion required in are welding to maintain uiformity of tie welding seam. Precision Motion Requirements. WK Quality-of the job depends’ to #-larger’extent on the’ ‘accuracy and repeatability. Therefore, these requirements whieh vary according to'size and industrial practice Should be clearly: ‘defined, that helps in ‘the selection of ‘most appropriate robot. Interface Capabilities “Robot miust possess sufficient control'cs pabi ities to work with different equipmmensinthe cll. The controller “gnust coordinate speed and:path with parameters. of _.welding such as wire feed rate and power level, “Programming | The'robot should be programmed carefully for © Continuous are welding along paths with iegular | @w ii) “| current systems), when it nT G2z- Explain the advantages of using robots In are ‘welding operations. ‘ [pd aes < ORT \ aed How robot willbe integrated in an arc welding - “facitity? Noeupec i 19) 0110) Made Ppa egy ‘Answer + “Are welding is.a continuous welding process, in which tong weld joints with airtight seal is maintained in between the two pieces of metal being joined. The process uses an electrade in the form of rod 6r wire of metal t supply the high elecic curent needed for establishing the ae. A continuous path seryo controlled robot that specifically designed for single application is used. The parts. be welded are positioned and held in place, the 3-dimensional path can be pre-taught and no external sensors. may be used, "The position sensor is placed in front of the welding tool. which provides information conceming irregularities in the weld path. ‘For wide joints, the robot is programmed to produce a weave ‘type of motion, which ensures that weld covers the entire exp, ‘The workspace of the welding robot should De large enough to accommodate size of the parts to be welded, A'5-DOF ‘manipulator can weld plane parts, while 6-DOFS are required for welding complex contours. The robotic’ welder controls the arc time effectively, which defines the weld strength. The following are the advantages of robotic welding. ° -@ Gi) Gi) Good quality of weld product Improved safety aspects in working coven Better control over welding process Higher productivity <<, Optimum utilisation of electrodes. (vi) Elimination of human errors eté. - Robot is programmed ae ave pte 5 pave mooncan be pend a wera cross $2088," ‘is done by the con i Avene ‘Scanned with CamScannerconsists of vision camera in on ye This camera is mounted 1 the ew ewe amust be progranimed for the desired eeing 1re Robe ches Le single pass aystem and + Maing path. se llowed. Generally. single pass system doubles 7° the variations in the welding seam in just “dtc ak oe ble pass system initially do a high speed wo Norecorany deviations from the programmed + seanofthe seam pass, welding is performed after analysis of ms sa ws by the controler ‘G24. Discuss the problems for robots In are wolding. - Anawer! ‘Problems for robots in are welding are, becomes more difficult to weld components involving hee oe amount of variations, ‘ 2. _ Ifthe variation is in the dimensions of the parts, the ‘path to be followed the other. 7 Variation in the edges and surfaces of the parts to be _ welded, iregular edges lead to errors in gaps between, the pars. Robot in are Welding do not have the seri still and judgement when compared toa " iatompensating the above variations, ‘ Problem occur in positioning the robot hile performing ‘ae welding in confined areas like ares inside pressure ‘Vessels, ship hulls, ete. cchanges slightly from one part to ing capability, human welder | 25. What are the require: of the robot for ‘*Pray-coating applications? Answer 1. eae as cet EOS ate of robot for spray- © | Continuous Path Contest © man POMOC QUIRES Large urnber of m and it chon ge umber of degrees of freedom forts, ‘continuous path to | Perth's human opersor Hydraulic Drive ‘when compared to electric drive and poeumati ive, de to the following reasons, Lee “Inelectic drive, generally spark is produced, which may “Tpit the pai fares. ea themutions ened to ec teeta ‘which is unacceptable for spray. «__, Inspray-coating applications, hydraulic drive is meg oe uly Manual lead ‘most suitable method for farm is moved manually in the desired motivs help of skilled humas ‘teach arm may be used instead of actual is heavier and posse 3 7) _ The use of ol ‘multiple programs a it also requires the capability to: applications ‘Answer + Industrial robots are used avoid hazards to hus nozzle, fire hazards painting operations, Robots employed fo both straight line and spray painting robot The spray painting extemal sensors, les of sprayi Q26.. Explain how the robot is use through programming is considered teach isthe robot, in which the site m pater. wit he 4 i operator. While prograrsiming the ton, robot, ay actiah ober ipulating snotty 48 difficulties in ‘Multiple Program Storage bot in spre -coating applications, requires forage for di ifferent styles of speay ing and ‘quickly access the program fo quires large memory to setup pro; \d for spray painting s. Model Papert, att{a) to perform spray painting to imans like fumes, mist in air, noise from and cancer hazards, etc. In robot sie the spray gun is the robot's end-effector. this purpose are capable of performing ‘continuous path motions. Prograinining is performed by a highly skilled operator application does not require the use of Figure: Spray Painting Advantages of using Robots in Spray Palnting 1. Consistency in operation : 2 Less enry consumplon 203. Optimum use of paint material x © 4 Higher product quality : Higher prociciviey aes : Tonproved safety and « E “Reduced + Proceas ratializaion ind quality OF wok tite ‘Scanned with CamScanner© “SCARA” Robots 4 + SCARA obots are highly accurate aid precise machines, assombly operations, * OR +) State and explain the application of robots In’ /anautomated assembly lines, ‘Answer 1 [Nav/Dec-16, (13), (a) | Model Papert, Q11(2] Assembly is defined as fitting two or more discrete. Parts together, to forma new subassembly, Assembly operation ‘consists of the sequential addition of components toa base pait to create a more complex subassembly or a complete product. Fastening operation using screws, nuts, bol, swaging, sFivets, ete, and insertions of shafts in holes are examples of assembly operations. Assembly operations are divided intotwo basic types, @ Parts mating Gi) Parts joining. In parts mating, two or more’parts are brought into : contact with each other, while in parts joining, two or more ‘Parts are mated and then additional steps are adopted to ensure that the parts will remnain in contact with each other. Example: Peg-in-hole assembly tasks. ‘There are two basic assembly system configurations ie., a single workstation and a series of workstations (an assembly Tine). Combinations of these two basic types are also possible. ‘The design for robotic assembly depends on the design of the product. The design considerations are, (Ease of assembly Gil) , Feeding and orientation. ‘The compliance of the gripper is the most important ‘| property in the assembly operation. There are thrée types of robots for assembly operations, (2). Cartesian robots (Gantry robots) ‘ (@) Revolute robots (“PUMA” robots) © “SCARA" robots. (@) "Cartesian Robots (Gantry Robots) ~ They are suitable for simple assembly operations as they _ have high accuracy and repeatability. These robots have grippers with 2 10 3 degrees of freedom. °° “@) RevoluteRodots | ">" ‘They are suitable for moderate assembly tasks, PUMA. (Programmable Universal Machine for Assembly) type robots (high level language robots) VAL and VAL I or “V+have 6-DOF’s. They have two coordinate systems, ©). Tool coordinate system: (ii) World coordinate system. which has direct drive motors for allowing high speed, > packlash-free, fast and accuréte assembling of parts, Q27. Discuss the applications of robots in automated '| capabilities in the manufacturing systems.’ Robots save ' ‘G28. Discuss the sin; system. t : Anawers Model Papas ayy In station robotic assembly system, all the par, hater tet complee the desredatembly ee prea : to the robot at a single work station: All the parts mating ang joining tasks for the assembly are accomplished at the single '| workstation. A single-station robotic assembly system, ‘be used for low and medium volume work, in which, limitey number of assembly tasks and parts are to be handled, ~ ‘Asebly fre iS Figure: Single Station Robotic Assembly System ‘The’single work station configuration isnot very | fast, even for assemblies of relatively low complexity. The ° production rate of the work station is inversely proportionalto ‘the number of parts in the assembly. Larger number of pars assembly by one gripper is difficult to design. This system is economical, for low-volume automated production. Some | disadvantages like changing grippers during ‘the’ work cycle : and reorienting the parts, results in loss of time.” k Q29. Discuss the robotic series assembly system. Answer : - on “Assembly robots are used in expanded producto ‘workers from tedious and dull assembly line jobs and increase Production and savings inthe process... Bie’ .__“ Assembly line constitutes the Which is used i Following figure shows a séies of employed for motor assembly job, An aesen ‘motor consisting components like rear end 10tor, stator, two brushes, two bearings; t - ‘Scanned with CamScanneeROBOTICS [JNTU-HYDERABAD] a i Bi -A—A_A___]| fk "Fees ~ @30. Discuss the robotic Inspection system. 7 : s “OR Explain how robotics can be applied to Inspection automation. » PE cn ae : : Now, (R09),080) y i i. oR” et wd ‘ Hew robot willbe integrated in an automated inspection system? : < i ‘3 "ea, * sDec.-16, (R13), Q10(b) sca, lmpestion” is a quality contol operation tat é ; aoe i toca r t involves the checking of parts assemblies or products for conforman e zai ceria specified by the designers, The inspection functic meat Foon ‘materials at various stages of the | Mae ea the completion of production Prior to shipping the product. Testing is another quality control operation Sime O00 He used to perform inspectic : Sis sh inspection or testing operations for Robo farm inspection operations. They cari be used to accomplish inspection or testing operat resins entrance and other physical characteristics, production function, performance, et. Mon the ‘TITLE COVER before you buy ‘Scanned ith CamScannee. Figure Machine vision as a sensor in robots is used for parts ocation, parts identification, bin picking. ete. Different features of robotic inspection are, 1. ‘The various types of inspection and testing equipment ‘can be loaded by a robot, which includes mechanical, electrical, pneumatic gauges, etc. ‘ In the manufacturing process, a robotic inspection is {incorporated at an appropriate place. The robot is used 10 ‘unload the finished product from the machine and to load it into an inspection gauge, which would specify if the ~~ “product is accepted or not according to predetermined setting. If the product is within the tolerance, limits it would pass to next step in manufacturing process, otherwise itis rejected: E 3. The automatic inspection system i tobe programmed o just tool wear and other sources of variation in metal cutting process. f . iv. 4. © Automation of a production operation requires robotic inspection in loading and unloading the products which are to be delivered at high level of quality with functional: |- requirements. Robotic inspection is incorporated in work cell to accomplish inspection of finished products at minimum crite What is meant by a robot cell? Explain the different robot cell layouts. “. Answer ‘ * Model Papers, a11(0) ~ Arobot éelfisa complete system consisting ofa robot, controller, positioners and safety envifonment for performing ‘Gifferent operations on a product. Robot cells are also known ag workcells. ae robot cell can be organised in different layouts, they ast. ‘Yn-line Robot Cells “In Inline robot cells layout, robot is placeq ‘moving conveyors.and other tool handling equipment robots then performs the specific task on the Product dune its movement on the conveyors. In this layouts merchant -| robots are used for performing tasks. The figure (1) shows... in-line robot cell:’ 3 2s ‘Mobile Robot Cell Layout In mobile cell Jayout, the robots are mounted on a mobile base. These mobile base are the tracks that are: ‘transported on floor or on overhead rail systems. In this layou, robots can be moved to various machines for performing taiks ‘on different or multiple products within the work cell. The figure (2) shows a mobile robot celll layout. ee ‘Scanned with CamScannee-ROBOTICS [JNTU-HYDERABAD] Robot Oper Costs once cell layout is relatively new form Direct Labour Cost | EE pai shown |. Iie the cot of sour Fequied for te operation c yout B Frobot. “eed a0 toe vel Handing stem. The lay how of rot ‘sgue 0) eee a,b (UW) Supervisory Cost { G32. Briefy. explain te economic analysis of robots me in detail. “Amswer s o Ezonomic Analysis of Robots © For economic analysis of robots data or information paces production (i., rate and amount of production, ~"jprodaction hours per day) and costs associated with robots either directly or indirectly is required. L irect Costs Associated ‘with Robots ‘Model Papers, ati(b) “4. Robot Investment Costs , © Robot Cost ~ It includes basic cost of robot, operational ‘equipment suchas manipulator and controle dt. i) Accesories Cost It includes the”cost aséociated with’ additional accessories such as recorders, computers, toolsete, (i) Engineering Cost Jt mainly includes the plaining and design costs (costs associated with research and laboratory Er -ritnete ene ith special tooling, * srinper, various fixtures, part positioners ee, - This the cost associated with manpower other than { maintenance staff i Maintenance Cost It includes the cost of maintenance : staff, replacement parts, services, lubricants, spare parts ete. ai, (iv) Training Cost sllincludes the cost associated with the training 2 Sprograms conducted for the staff “Indirect Costs Associated with Robots tincludes the following costs associated with robots. (@ Costassociated with inventory (i... finished and swork in process (WIP) goods). ‘Costs related to floor utilization. Costs associated with material procurement and utilization. Costs associated with the riew technologies or modifications in current technologies. 7 wy Costs associated with the rework and scrap reduction, etc. Q33. Give the different applications of robot in manufacturing industries Answer : Applications of Robots in Manufacturing Industries Applications of robots in manufacturing are mainly classified into three types as follows, 1. Material Handling and Transfer : } For answer refer UnitV, Q12: * fe Processing Operation: ‘This includes various applications like, (@_ Spot welding i ass Z For answer refer Unit-V, Q19, Continuous arc welding e7pc For answer refer Unit-V, Q22. + Gill). Spray coating : For answer refer Unit-V, 26. . ‘Scanned with CamScanner