chapter 5 work cell design and control. contents robot cell layouts multiple robots and machine...

Chapter 5Work Cell Design and Control

Contents•Robot Cell Layouts •Multiple Robots and Machine

Interface•Some Consideration in Work Cell

Design•Interlocks, Error Detection and

Recovery •Robot Cycle Time Analysis

IntroductionStep of a company to implement a roboticsprogram in its operation:• Initial familiarization with the technology• Plant survey to identical potential

applications• Selection of application• Selection of the robot• Detailed economic analysis & capital

authorization

Robot work cell layout•Robot-centred work cell•In-line robot work cell•Mobile work cell

Robot-centred work cell

Center of work cellHigh utilization of

robotMethod of work part

delivery (eg: conveyor, part-feeders, pallets)

Install for single robot servicing 1@more production machines

In-line robot work cell

1 @ more robots located along in-line conveyor

Work is organized so each robot performs assembly operation on each part (eg: welding line)

Mobile work cell

Mobile work cellTransport

mechanism: floor mounted @ overhead railing system

Service for more than one station

Problem: to find optimum number of station to service

Multiple Robots and Machine Interface•Physical Interference of Robots•Machine Interference

Some Modification in Work Cell Design• Modification to other equipment in the cell• Part position and orientation• Part identification problem• Protect of robot from its environment• Utilities• Control of work cell• Safety

Work cell control•Sequence control•Operator interface•Safety monitoring

Sequence controlSequence control includes:•Regulate the sequence of activities•Control of simultaneous activities•Making decision to

proceed/stop/delay work based on events

Operator InterfaceOperator to interact with robot work cell.Operator interface is required to:• Program the robot, modify and update

programs• Let human operator participate in work

cycle• Do data entry by human operator• Do emergency stopping activities

Interlock

Error Detection and RecoveryWhen a computer is used to detect andcorrect errors, this is known as “errordetection and recovery”

Error Recovery

Error Recovery

Robot Cycle Time Analysis

Robot Cycle Time Analysis

Robot Cycle Time Analysis