Designing a Robotic Arm for Moving and Sorting Scraps at Pacific Can, Beijing, China

In modern industry, innovation by automating processes provides companies with competitive advantages in speed, efficiency, and production value. This Major Qualifying Project studied the potential of a robotic, palletizing arm to help Pacific Can Company Ltd. replace their manpower-driven operation of moving and stacking unpainted and painted blocks of scrap metal. Focus areas of the project included work area design, block distinction, alarm systemization, as well as robotic arm and end of arm tool selection

Designing a Robotic Arm for Moving and Sorting Scraps at Pacific Can, Beijing, China

In modern industry, innovation by automating processes provides companies with competitive advantages in speed, efficiency, and production value. This Major Qualifying Project studied the potential of a robotic, palletizing arm to help Pacific Can Company Ltd. replace their manpower-driven operation of moving and stacking unpainted and painted blocks of scrap metal. Focus areas of the project included work area design, block distinction, alarm systemization, as well as robotic arm and end of arm tool selection

Specification and installation of a robotic system to improve the production efficiency of a cutting station

Mestrado de dupla diplomação com a UTFPR - Universidade Tecnológica Federal do ParanáOne of the main technologies in Industry 4.0 are collaborative robots (cobot), which allow humans to work alongside them while respecting the necessary safety standards. The use of robots in industry is generally done to improve production, quality, reduce repetitive efforts and heavy manual labor. In order to save time and, consequently, money. With this, the Catraport company presented the problem of automating a cutting station consisting of two machines. In the development of the automated solution, simulations were used to analyze which would be the most viable option for the company. The company chose the hybrid solution formed by a robot and a worker. With the requirements defined, they purchased the robot, which they required to be a cobot. The model is the UR-10e, from Universal Robots, and also, as accessories, the adaptive gripper and the wrist camera, both from Robotiq. After the purchase, the hardware part of the robot was installed and the software for the accessories was configured. With this, the visual recognition of the part was calibrated to identify its position, the gripper was adjusted to better fit the piece and possible solutions to position the parts in the exit box. For the last step it was necessary to develop an individual programming case for each piece, because they have shapes that do not allow a simple fit between them. It was also used a resource of the camera to identify tags, which was used for the system to recognize the position and orientation of each pallet.Uma das principais tecnologias da Indústria 4.0 são robôs colaborativos (cobot), que permitem o trabalho ao lado de humanos respeitando as normas de segurança necessárias. O uso de robôs na indústria é geralmente feito para melhorar produção, qualidade, reduzir esforços repetitivos e trabalhos manuais pesados. De forma a economizar tempo e, consequentemente, dinheiro. Com isso, a empresa Catraport apresentou o problema de automatizar uma estação de corte composta por duas máquinas. No desenvolvimento da solução automatizada, foram utilizadas simulações para a análise de qual seria a opção mais viável para a empresa. A empresa optou pela solução híbrida formada por um robô e um trabalhador. Com os requisitos definidos, fez a aquisição do robô, que eles tinham como exigência ser um cobot. O modelo é o UR-10e, da Universal Robots, e também, como acessórios, a garra adaptativa e a câmera de pulso, ambos da Robotiq. Após a compra, a parte de hardware do robô foi instalada e os softwares para os acessórios configurados. Com isso, o reconhecimento visual da peça foi calibrado para identificar sua posição, a garra foi ajustada para encaixar melhor na peça e possíveis soluções para posicionar as partes na caixa de saída. Para a última etapa foi necessário desenvolver um caso de programação individual para cada peça, pois elas possuem formatos que não permitem um encaixe simples entre elas. Também foi utilizado um recurso da câmera de identificar tags, que foi utilizado para que o sistema reconhecesse a posição e orientação de cada pallet

Force-Guided Robot In Mobile Phone Assembly [TK6570.M6 K82 2004 ff rbrb Kejuruteraan] [Microfiche 7706].

Assembly of mobile phone is currently carried out manually by human operation. Operasi pemasangan telefon bimbit masa kini dijalankan dengan mengunakan tenaga manusia secara manual

MODELING AND SIMULATION OF INDUSTRIAL ROBOT ARMS USING SIMSCAPE MULTIBODY

The dynamic simulation modeling problem of industrial robot arm is solved, and the trajectory planning dynamic simulation is performed in this paper. In response to the lack of trajectory planning and motion controller interfaces in the robotic modelling study, including the lack of dynamic simulation visualization, a Simscape Multibody-based method for building a dynamic model of industrial robot arm is proposed and the effectiveness of the model is verified through dynamic simulation. The simulation model integrates the robotic arm trajectory planning, motion controller and data acquisition module. It has a clear structure and the parameters are easy to modify. It can reasonably simulate the structure and parameters of the research object and facilitate the subsequent research of related algorithms. It provides an innovative and open-source research and development platform for the dynamic simulation study of the robot arm

Development of a SCARA robot arm for palletizing applications based on computer vision

This paper develops a computer vision system integrated with a SCARA robot arm to pick and place objects. A novel method to calculate the 3D coordinates of the objects from a camera is proposed. This method helps simplify the camera calibration process. It requires no knowledge of camera modeling and mathematical knowledge of coordinate transformations. The least square method will predate the Equation describing the relationship between pixel coordinates and 3D coordinates. An image processing algorithm is presented to detect objects by color or pixel intensity (thresholding method). The pixel coordinates of the objects are then converted to 3D coordinates. The inverse kinematic Equation is applied to find the joint angles of the SCARA robot. A palletizing application is implemented to test the accuracy of the proposed method. The kinematic Equation of the robot arm is presented to convert the 3D position of the objects to the robot joint angles. So, the robot moves exactly to the required positions by providing suitable rotational movements for each robot joint. The experiment results show that the robot can pick and place 27 boxes on the conveyor to the pallet with an average time of 2.8s per box. The positions of the boxes were determined with an average error of 0.5112mm and 0.6838mm in the X and Y directions, respectively

Modeling of Inverse Kinematic Analysis of Open-Source Medical Assist Robot Arm by Python

Today, the epidemic diseases such as COVID-19 spreads very fast in the globalizing world and lethal effects on human health have had a noticeable effect on the health sector. For this situations, various disciplines have had different studies to minimize the effects of the epidemic. In such cases, it is a separate requirement that the use of the opportunities brought by technology. In this study, the kinematic analysis of the open-source robot arm was especially examined in terms of reducing the workload of individuals working in the healthcare sector. The open-source robot arm is articulated and has 5 degrees of freedom. The kinematic analysis is very important for determination of the working space of the robotic systems. The inverse kinematic analysis was done with Python programming language and the control module was developed to check the analysis. The control module shows the angle values depending on the joints of the robot arm. It is also shown the Px, Py, and Pz positions obtained depending on the position of the end effector in 3D space. On the other hand, Euler angle values are also specified, which are based on the position of the last position taken by the joints of the robot arm in the 3D space. In the study, the geometric approach method was used that is still popular in the inverse kinematic analysis. It is hoped that this study will inspire the development and use of professional and industrial kinds of the open-source robot arm

Towards realizing robotic potential in future intelligent food manufacturing systems

This paper provides a comprehensive review of the robotic potential that is foreseen by researchers in designing future food manufacturing plant. The present day food handling and packaging setup is limited in capacity and output due to manual processing. An optimized protocol to fetch various ingredients and shape them in a final product by passing through various stages in an automated processing plant while simultaneously ensuring high quality and hygienic environment is merely possible by using robotized processing. The review also highlights the possibilities and limitations of introducing these high technology robots in the food sector. A comparison of several robots from different classes is listed with major technical parameters. However, as predicted, a food cyber-physical production system (CPPS) visualizes a closed loop system for the desired output keeping in view various constraints and risks. Human machine interface (HMI) for these machines complies with the industrial safety standards to provide a fail safe production cycle. Various new horizons in research and development of food robots are also highlighted in the upcoming industrial paradigm

On-the-Fly Workspace Visualization for Redundant Manipulators

This thesis explores the possibilities of on-line workspace rendering for redundant robotic manipulators via parallelized computation on the graphics card. Several visualization schemes for different workspace types are devised, implemented and evaluated. Possible applications are visual support for the operation of manipulators, fast workspace analyses in time-critical scenarios and interactive workspace exploration for design and comparison of robots and tools