TUT-microfactory – a small-size, modular and sustainable production system

Part of: Seliger, Günther (Ed.): Innovative solutions : proceedings / 11th Global Conference on Sustainable Manufacturing, Berlin, Germany, 23rd - 25th September, 2013. - Berlin: Universitätsverlag der TU Berlin, 2013. - ISBN 978-3-7983-2609-5 (online). - http://nbn-resolving.de/urn:nbn:de:kobv:83-opus4-40276. - pp. 78-83.Micro and desktop factories are small size production systems suitable for fabricating and assembling small parts and products. The development originates in the early 1990’s Japan, where small machines were designed in order to save resources when producing small products. This paper introduces the modular TUTMicrofactory concept, developed at Tampere University of Technology during the past 15 years, and its applications. The sustainability of miniaturized production systems is discussed from three perspectives – environmental, economic and social. The main conclusion is that micro and desktop factories can remarkably enhance the sustainability of manufacturing from all these three perspectives

Design and implementation of double H’-gantry manipulator for TUT microfactory concept

This Master of Science thesis depicts the mechanical design and physical implementa-tion of double H’-gantry manipulator called DOHMAN. The H’-gantry mechanism is belt driven, two dimensional positioning device in which the belt is arranged in capital “H” form, and enables one linear and one rotary movement. The Ball-Screw Spline, in addition, is mechanism that consists of Ball Screw Nut, Ball Spline Nut, and Lead Screw with screw and spline grooves that fit both nuts. This mechanism enables linear and rotary displacement along the same axis. The DOHMAN robot is made of two par-allel kinematic H’-gantry structures linked with a miniature Ball Screw-Spline mecha-nism. The resulting structure is capable of performing four degrees-of-freedom (DOF) displacements along the three Cartesian axes X, Y and Z as well as a rotation W around the Z axis. The size and the other geometries of the DOHMAN robot aim to fit into the microfactory concept (TUT-μF) developed at Tampere University of Technology. For position control and visual servoing of the robot, an additional module was de-signed and implemented. Custom design of mechanical parts along with the selection of off-the-shelf components was done for building the robot prototype. The chapters and the appendix of this thesis thoroughly explain the design decisions and the implementa-tion. During the design development a new innovative homing strategy for linear Z and angular W axes was suggested and later implemented. This innovative homing provides efficient use of space for mounting the limit switches, avoiding huge loss in the overall Z-axis movement, and significantly reduces the cabling issues in the moving structure. Besides the innovative homing, other advantages of DOHMAN are distributed actuation and homogeneous workspace. The distributed actuation decreases the overall mass of the moving structure and also reduces the cabling within the overall mechanical system. The consistency in the workspace eases the control of the robot because there are no regions to avoid while moving the end effector

Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2021

This Open Access proceedings presents a good overview of the current research landscape of assembly, handling and industrial robotics. The objective of MHI Colloquium is the successful networking at both academic and management level. Thereby, the colloquium focuses an academic exchange at a high level in order to distribute the obtained research results, to determine synergy effects and trends, to connect the actors in person and in conclusion, to strengthen the research field as well as the MHI community. In addition, there is the possibility to become acquatined with the organizing institute. Primary audience is formed by members of the scientific society for assembly, handling and industrial robotics (WGMHI)

Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2021

This Open Access proceedings presents a good overview of the current research landscape of assembly, handling and industrial robotics. The objective of MHI Colloquium is the successful networking at both academic and management level. Thereby, the colloquium focuses an academic exchange at a high level in order to distribute the obtained research results, to determine synergy effects and trends, to connect the actors in person and in conclusion, to strengthen the research field as well as the MHI community. In addition, there is the possibility to become acquatined with the organizing institute. Primary audience is formed by members of the scientific society for assembly, handling and industrial robotics (WGMHI)

Adaptive Robot Framework: Providing Versatility and Autonomy to Manufacturing Robots Through FSM, Skills and Agents

207 p.The main conclusions that can be extracted from an analysis of the current situation and future trends of the industry,in particular manufacturing plants, are the following: there is a growing need to provide customization of products, ahigh variation of production volumes and a downward trend in the availability of skilled operators due to the ageingof the population. Adapting to this new scenario is a challenge for companies, especially small and medium-sizedenterprises (SMEs) that are suffering first-hand how their specialization is turning against them.The objective of this work is to provide a tool that can serve as a basis to face these challenges in an effective way.Therefore the presented framework, thanks to its modular architecture, allows focusing on the different needs of eachparticular company and offers the possibility of scaling the system for future requirements. The presented platform isdivided into three layers, namely: interface with robot systems, the execution engine and the application developmentlayer.Taking advantage of the provided ecosystem by this framework, different modules have been developed in order toface the mentioned challenges of the industry. On the one hand, to address the need of product customization, theintegration of tools that increase the versatility of the cell are proposed. An example of such tools is skill basedprogramming. By applying this technique a process can be intuitively adapted to the variations or customizations thateach product requires. The use of skills favours the reuse and generalization of developed robot programs.Regarding the variation of the production volumes, a system which permits a greater mobility and a faster reconfigurationis necessary. If in a certain situation a line has a production peak, mechanisms for balancing the loadwith a reasonable cost are required. In this respect, the architecture allows an easy integration of different roboticsystems, actuators, sensors, etc. In addition, thanks to the developed calibration and set-up techniques, the system canbe adapted to new workspaces at an effective time/cost.With respect to the third mentioned topic, an agent-based monitoring system is proposed. This module opens up amultitude of possibilities for the integration of auxiliary modules of protection and security for collaboration andinteraction between people and robots, something that will be necessary in the not so distant future.For demonstrating the advantages and adaptability improvement of the developed framework, a series of real usecases have been presented. In each of them different problematic has been resolved using developed skills,demonstrating how are adapted easily to the different casuistic

Intuitive Instruction of Industrial Robots : A Knowledge-Based Approach

With more advanced manufacturing technologies, small and medium sized enterprises can compete with low-wage labor by providing customized and high quality products. For small production series, robotic systems can provide a cost-effective solution. However, for robots to be able to perform on par with human workers in manufacturing industries, they must become flexible and autonomous in their task execution and swift and easy to instruct. This will enable small businesses with short production series or highly customized products to use robot coworkers without consulting expert robot programmers. The objective of this thesis is to explore programming solutions that can reduce the programming effort of sensor-controlled robot tasks. The robot motions are expressed using constraints, and multiple of simple constrained motions can be combined into a robot skill. The skill can be stored in a knowledge base together with a semantic description, which enables reuse and reasoning. The main contributions of the thesis are 1) development of ontologies for knowledge about robot devices and skills, 2) a user interface that provides simple programming of dual-arm skills for non-experts and experts, 3) a programming interface for task descriptions in unstructured natural language in a user-specified vocabulary and 4) an implementation where low-level code is generated from the high-level descriptions. The resulting system greatly reduces the number of parameters exposed to the user, is simple to use for non-experts and reduces the programming time for experts by 80%. The representation is described on a semantic level, which means that the same skill can be used on different robot platforms. The research is presented in seven papers, the first describing the knowledge representation and the second the knowledge-based architecture that enables skill sharing between robots. The third paper presents the translation from high-level instructions to low-level code for force-controlled motions. The two following papers evaluate the simplified programming prototype for non-expert and expert users. The last two present how program statements are extracted from unstructured natural language descriptions

Autonomous Campus Mobility Platform

This Major Qualifying Project (MQP) is based around the development of a robotic vehicle for use in improving mobility. The main objective was to create an autonomous vehicle capable of navigating a person or cargo back and forth from Higgins Laboratory on the Worcester Polytechnic Institute (WPI) main campus to the Robotics Laboratory located at 85 Prescott Street, approximately 0.6 miles away. An autonomous robot was uniquely designed as a personal mobility platform to navigate its environment using onboard navigation and sensing system