Professional Documents
Culture Documents
OF ROBOTIC COMPONENTS
Written By
ADIE, UNIMKE CHINONSO
MECHATRONICS ENGINEERING. 14/ENG05/029 (A07)
MCT 501: ROBOT DESIGN AND MANUFACTURE
ABSTRACT
One of the most revolutionary concepts of machining processes to emerge in the last decade has
been the concept of Flexible Manufacturing Processes. It is a concept of machining where a set of
machine tools can be used to perform a wide range of machining operations to produce a variety
of products. This dynamic nature of the machine tools can be achieved by developing a
combination of hardware and software components. The paper attempts to explain why such a
process of machining is the needed at this point in time. It gives details about the various hardware
and software components of this process and how each of them work in co-ordination with each
other. The paper also explains how flexible manufacturing processes can be designed to suit the
production of robotic components. Once the process has been designed, the paper also tells us how
to go about implementing this process right from acquiring the required components to beginning
production on the system.
INTRODUCTION
Since the inception of civilization, man has been continuously trying to ease and enhance his work
by developing better tools. This process began with the creation of stone and wooden tools and
improved into a totally automated industry. This industry would be able to do all the things
associated with a product, right from designing it to packaging. Since the human operator tends to
be the weakest link in the chain of production, the need for automation has been important
throughout the industry. A Flexible Manufacturing Process is a part of this process and a step
towards complete automation of the factory. This is a form of flexible automation in which several
machine tools are linked together by a material-handling system, and all parts of the system are
controlled by a central controller (usually a computer).
DEFINITION OF FLEXIBLE MANUFACTURING SYSTEM
It is a collection of production equipment logically organized under a host computer and physically
connected by a central transport system.
It is a group of manufacturing cells linked by an automatic material handling system and a central
computer. It is able to manufacture a mix of piece-part types while being flexible enough to
sequentially manufacture different piece-part type mixes without costly, time-consuming,
changeover requirement. It is a medium size batch production system. The parts requiring the same
machining operation is sent to the appropriate machine tools irrespective of the type of part.
II. Random order FMS. It is able to handle the substantial variations in part configurations.
To accommodate these variations, a random order FMS must be more flexible than the
dedicated FMS. A random order FMS is capable of processing parts that have a higher
degree of complexity. Thus, to deal with these kinds of complexity, sophisticated
computer control system is used for this FMS type.
As indicated in our definition, there are several basic components of an FMS. In the following
segment, a framework for understanding the components of an FMS is presented. A flexible
manufacturing system consists of two subsystems:
Physical subsystem
Control subsystem
2. Control software. It is a set of files and programs that are used to control the physical
subsystems. The efficiency of FMS totally depends upon the compatibility of control
hardware and control software.
Hardware: the hardware component basically consists of machine tools and handling systems. It
incorporates the following equipment:
Machine tools e.g., universal machining centers, turning centers, drilling machines etc.
Host computer.
Load/unload station.
Guided vehicles e.g., wire-guided trolley shuttle, over-head conveyor etc.
Robots.
Washing statin.
Tool Room
Swarf disposal system.
Software: software for flexible manufacturing processes can be divided into two broad categories
– extrinsic functions and intrinsic functions.
Software for the extrinsic functions is used to plan and control the functions that take place outside
the physical boundaries of the process.
Software for the intrinsic functions is used to load and control the components within the physical
boundaries of the process.
COMPONENTS OF A ROBOT
1. The mechanical linkage
The manipulator consists of a set of rigid links connected by joints. The joints are typically Rotary
or sliding. The last link or the most distal link is called the end effectors because it is this link to
which a gripper or a tool is attached. Sometimes one distinguishes between this last link and the
end effectors that are mounted to this link at the tool mounting plate or the tool flange
The manipulator can generally be divided into a regional structure and an orientation structure.
The regional structure generally consists of the joints (and the links between them) whose main
function is the positioning of the manipulator end effectors. These are generally the proximal
joints. The remaining distal joints are mainly responsible for orienting the end effectors. The
different ways a manipulator linkage can move is called its degrees of freedom.
3. Sensors
The control of a manipulator or industrial robot is based on the correct interpretation of sensory
information. This information can be obtained either internally to the robot (for example, joint
positions and motor torque) or externally using a wide range of sensors.
4. Controllers:
The controller provides the intelligence that is necessary to control the manipulator system. It looks
at the sensory information and computes the control commands that must be sent to the actuators
to carry out the specified task. Controller
It generally includes
• Memory to store the control program and the state of the robot system obtained from the
sensors
• A computational unit (CPU) that computes the control commands.
• The appropriate hardware to interface with the external world (sensors and actuators).
• The hardware for a user interface.
II. Assembly operation. It involves joining of two or more components to create a new
entity which is called an assembly/subassembly. Permanent joining processes include
welding, brazing, soldering, adhesive bonding, rivets, press fitting, and expansion fits.
The controller of a robot often has electronic components which are put together using the
above method examples, hence, controllers can be produced by assembly operations of an
FMS.
I. Dedicated Flexible Manufacturing System: Sensors mainly have a sole purpose which
is to sense a particular physical quantity, hence they can be produced using dedicated FMS
to produce a particular variety of part styles. The product design is considered to be fixed.
So, the system can be designed with a certain amount of process specialization to make
the operation more efficient.
One of the characteristics of a flexible manufacturing process is that a machine tool can work in
various modes depending upon the requirements of the user. These are:
Automatic mode: this is the normal mode of operation of the machine tool when part of
the system.
D.N.C. mode: In this mode any operation can be initiated at N.C.’s panel without being
watched by the host.
Maintenance mode: This mode is used when maintenance is planned for a machine. The
machine is also put in this mode when it is expected to be out of operation for a long period.
Stand-alone mode: This mode can be used to test the part program of a new piece part
before introducing it in the system. The machine is unsynchronized by the host in this
mode. All the processes carried out by the hardware are being monitored in real-time by
the various intrinsic software(s) loaded on to the Host Computer. Thus the Host Computer
controls the whole system.
CAD software is used to design the robot component and represent it in a solid model. While a
CAM software is used to convert this solid model into part programs incorporating all the
information about the machining operations to be performed on the work-piece. The information
based on which the whole system performs its functions is accessed from the central database
system. The software is supplied Artificial Intelligence capability to be able to take decisions based
on the actions of the system performed till now. The program development should be menu-driven
and have a user-friendly software. The concept of Blueprint Programming is widely used in the
system, which involves the use of data for cutting parameters. Thus the various components of the
process work in co-ordination with each other to create a super machine of a versatile character.
Advantages
1. Reduction in personnel.
2. Reduction in designing cost of robotic components.
3. Reduction in overall lead time.
4. Reduction in work in process.
5. Gain in overall production.
Disadvantages
1. Very high start-up cost.
2. Limited ability to adapt to changes in product or product mix (ex. machines are of
limited capacity and the tooling necessary for products, even of the same family, is
not always feasible in a given FMS)
3. Substantial pre-planning activity
4. Technological problems of exact component positioning and precise timing necessary
to process a component
5. Sophisticated manufacturing systems
CONCLUSION
Flexible manufacturing processes are now being widely employed to improve productivity and
quality of the robotic components being produced. It also improves the quality of life for the
operator. The new techniques will have a major impact on economic factors. Research must be
carried out in the development of the technical aspects of software and hardware to develop a better
flexible manufacturing system to suit various requirements. Research must also be conducted in
developing a standardization process in certain areas to enable the easier implementation of
flexible manufacturing processes.
REFERENCES
Shubhankar, (2009). Flexible Manufacturing Systems (F.M.S): A Whitepaper. [Online] p.8-11.
Available at https://www.scribd.com/doc/19321303/Flexible-Manufacturing-Systems-F-M-S-A-
Whitepaper [Accessed 15 Oct. 2017].
Samiksha, S. (2015) Components of a robot. [online]. Your Article Library. Available at:
http://www.yourarticlelibrary.com/robots/robots-5-important-components-of-robots/5692
[Accessed 15 Oct. 2017].
Dominic A, (2010). Robotics and Its Applications. [online] Scribd. Available at:
https://www.scribd.com/document/33112950/Robotics-and-Its-Applications [Accessed 23 Oct.
2017].
Handbook of flexible manufacturing systems.
Flexible manufacturing system in practice, Roger Bobetto.
Flexible Manufacturing, David Parrish.