CABLE-SUSPENDED CPR-D TYPE PARALLEL ROBOT

This paper deals with the analysis and synthesis of a newly selected Cable-suspended Parallel Robot configuration, named CPR-D system. The camera carrier workspace has the shape of a parallelepiped. The CPR-D system has a unique Jacobian matrix that maps the relationship between internal and external coordinates. This geometric relationship is a key solution for the definition of the system kinematic and dynamic models. Because of the CPR-D system complexity, the Lagrange principle of virtual work has been adapted. Two significant Examples have been used for the CPR-D system analysis and validation

Economical industrial workcell modeling: Simulation and layout design.

The main objective of this research was to find an optimal solution for the simulation and analysis of workcells for some automated production processes. Two processes were chosen for the study---assembly of a car fender, and spot welding of a front support engine/transaxle mount. In closer defining of this task certain constraints and requirements were postulated in order to make these processes economical and productive. For safety reasons an operator was foreseen to be included in the production process, and the possible collisions in the process had to be detected. To meet this objective and postulated requirements, the simulation and analysis were designed for a low-cost microcomputer, instead of expensive hardware systems often used previously. The commercial Workspace software package was used because of its flexible modeling, designing and process analyzing capabilities, including off-line programming, calibration, animation, and collision avoidance. The workcell simulation approach described in this thesis is a step forward in providing a task-oriented solution to the problem of robotic cell design and programming. It integrates off-line programming techniques with significant features of welding technology. This particular graphical simulation and layout design of spot welding and assembly proved the importance of production planning and analysis. Simulation was running in real-time and each aspect of the production could be easily tracked and analyzed. Changing throughput-setting variables could simulate various production scenarios. For simple simulation the input is only run time, and for complex simulation the input represents run time with down time. Another important feature provided by --- collision avoidance was also included into the simulation. A unique feature of this study was the introduction of an operator into the simulation, for the first time in the WorkspaceRTM software. The operator was defined as a mechanism with eighteen joints. All originally given constraints and requirements were successfully met in this simulation. Source: Masters Abstracts International, Volume: 39-02, page: 0574. Adviser: Waguih H. El Maraghy. Thesis (M.A.Sc.)--University of Windsor (Canada), 1999

Preparing Students for the Advanced Manufacturing Environment Through Robotics, Mechatronics, and Automation Training

Automation is one of the key areas for modern manufacturing systems. It requires coordination of different machines to support manufacturing operations in a company. Recent studies show that there is a gap in the STEM workforce preparation in regards to highly automated production environments. Industrial robots have become an essential part of these semi-automated and automated manufacturing systems. Their control and programming requires adequate education and training in robotics theory and applications. Various engineering technology departments offer different courses related to the application of robotics. These courses are a great way to inspire students to learn about science, math, engineering, and technology while providing them with workforce skills. However, some challenges are present in the delivery of such courses. One of these challenges includes the enrollment of students who come from different engineering departments and backgrounds. Such a multidisciplinary group of students can pose a challenge for the instructor to successfully develop the courses and match the content to different learning styles and math levels. To overcome that challenge, and to spark students\u27 interest, the certified education robot training can greatly support the teaching of basic and advanced topics in robotics, kinematics, dynamics, control, modeling, design, CAD/CAM, vision, manufacturing systems, simulation, automation, and mechatronics. This paper will explain how effective this course can be in unifying different engineering disciplines when using problem solving related to various important manufacturing automaton problems. These courses are focused on educational innovations related to the development of student competency in the use of equipment and tools common to the discipline, and associated curriculum development at three public institutions, in three different departments of mechanical engineering technology. Through these courses students make connections between the theory and real industrial applications. This aspect is especially important for tactile or kinesthetic learners who learn through experiencing and doing things. They apply real mathematical models and understand physical implications through labs on industrial grade robotic equipment and mobile robots

The Reconfigurable Machinery Efficient Workspace Analysis Based on the Twist Angles

A novel methodology for the calculation, visualisation and analysis of the Reconfigurable Machinery Efficient Workspace (RMEW), based on the twist angles, is presented in this paper. The machinery\u27s kinematic parameters are used for calculating the workspace, while the efficient workspace is associated with the machinery\u27s path and includes the end-effector position and orientation. To analyse and visualise many different machinery efficient workspaces at the same time, the calculation is based on the previously developed and validated complex reconfigurable machinery\u27s kinematic structure named n-DOF Global Kinematic Model (n-GKM). An industrial robot is used as an example to demonstrate an application of n-GKM model. It is calculated only for the tool\u27s perpendicular orientation relative to the floor. Four different kinematic configurations based on twist angles (αi) were selected to demonstrate the outcomes. Their graphical representations show how the twist angles significantly affect the shape and size of the efficient workspace. RMEW can be used as a design tool for new machinery\u27s kinematic structure and layout design. This methodology can be applied for any tool orientation

Learning Module on Electric Motors Modeling, Control, and Testing (LM-EMMCT)

The objective of this paper is to develop and integrate a learning module on Electric Motors Modeling, Control and Testing (EMMCT) into the Electrical Engineering Technology (EET) and Mechanical Engineering Technology (MET) programs. Preparing future engineers to work in highly automated production requires proper education and training in mechatronics theory and applications. Although Engineering Technology programs at various universities offer various courses related to the controls, electrical motors, and automation, they are not including the same methods when it comes to the selection of appropriate electrical motor for a specific application in mechatronic system. MET student do have exposure to the electrical systems in the various courses that are offered at their lower division level courses. However, these methods have to be further emphasized and applied in the upper level courses as well. This paper will present one such application and a learning module that is focused on the Electric Motors Modeling, Control and Testing (EMMCT). This module can be integrated in various controls, mechatronics, robotics, senior design and capstone courses

An Initial Look at Robotics-based Initiatives to Engage Girls in Engineering

Over the past 10 years, the use of robotic kits in K-12 Science, Technology, Engineering, and Math (STEM) initiatives as well as undergraduate engineering education has increased significantly. However, a survey of students in grades 9–12 indicated that only 2–3% of women in high school express an intention to study engineering; conversely, 16% of high school men declared that they plan to pursue an engineering degree [1]. In this paper, the authors present an initial review of published literature regarding the use of robotics in schools to identify cases where robotic kits have been used to engage girls in STEM learning and to discuss how robotics has been used or could be used to positively influence outcomes of girls’ knowledge, interests, self-efficacy, and attitudes related to careers in engineering

Hands-On Learning Environment and Educational Curriculum on Collaborative Robotics

The objective of this paper is to describe teaching modules developed at Wayne State University integrate collaborative robots into existing industrial automation curricula. This is in alignment with Oakland Community College and WSU’s desire to create the first industry-relevant learning program for the use of emerging collaborative robotics technology in advanced manufacturing systems. The various learning program components will prepare a career-ready workforce, train industry professionals, and educate academicians on new technologies. Preparing future engineers to work in highly automated production, requires proper education and training in CoBot theory and applications. Engineering and Engineering Technology at Wayne State University offer different robotics and mechatronics courses, but currently there is not any course on CoBot theory and applications. To follow the industry needs, a CoBot learning environment program is developed, which involves theory and hands-on laboratory exercises in order to solve many important automaton problems. This material has been divided into 5-modules: (1) Introduce the concepts of collaborative robotics, (2) Collaborative robot mechanisms and controls, (3) Safety considerations for collaborative robotics, (4) Collaborative robot operations and programming, (5) Collaborative robot kinematics and validation. These modules cover fundamental knowledge of CoBots in advanced manufacturing systems technology. Module content has been developed based on input and materials provided by CoBot manufacturers. After completing all modules students must submit a comprehensive engineering report to document all requirements