• Title/Summary/Keyword: Workpiece Handling

Search Result 8, Processing Time 0.021 seconds

Design Process of Robotic Cell and Layout Design Tool (로봇 셀 설계절차와 레이아웃 작업 지원 도구)

  • Guk, Geum-Hwan;Park, Jun-Mo
    • Transactions of the Korean Society of Mechanical Engineers A
    • /
    • v.24 no.6 s.177
    • /
    • pp.1379-1389
    • /
    • 2000
  • In this study, a design process of robotic cell is presented. This paper focuses only on the automation of workpiece handling with robot. The presented design process enables us to analyze effectiv ely the original production system and to redesign it as an optimum production system with robots. An original production system is analyzed with respect to its economical and technological requirements for automation. If automation of the given production system is feasible, the conceptual design for automation is firstly derived. Next, the detail design is derived for the optimum conceptual design. Finally, an optimum system solution is determined after the economical and technical evaluation of all the derived detail designs. The all specifications of each element of the redesigned production system and its layout are determined at the detail design phase. This paper shows a low cost supporting tool for layout design of robotic cell with SCARA type robots.

GRASPING FORCE CONTROL OF ROBOT HAND

  • Sim, Kwee-Bo;Hashimoto, Hideki;Harashima, Fumio
    • Proceedings of the KIEE Conference
    • /
    • 1988.11a
    • /
    • pp.455-458
    • /
    • 1988
  • In this paper, a grasping force control of robot hand is presented with consideration of workpiece dynamics. It is difficult to control a manipulator without the knowledge of Its dynamics, because its handling with unknown workpiece may bring about overshoots and vibrations. Then it is necessary to adjust control gains according to the handling workpieces in order to achieve good control performances. The authors propose a new control strategy which uses adaptive observer and VSS (${\underline{V}}ariable$ ${\underline{S}}tructure$ ${\underline{S}}ystem$) controller to subdue these overshoots and vibrations. Some simulations of the proposed method are carried out for a grasping system to control the grasping force to various workpieces, whose dynamics cannot be known in advance.

  • PDF

Estimation of the Expected Time in System of Trip-Based Material Handling Systems (트립에 기초한 물자취급 시스템에서 자재의 평균 체류시간에 대한 추정)

  • Cho, Myeon-Sig
    • Journal of Korean Institute of Industrial Engineers
    • /
    • v.21 no.2
    • /
    • pp.167-181
    • /
    • 1995
  • We develop an analytical model to estimate the time a workpiece spends in both input and output queues in trip-based material handling systems. The waiting times in the input queues are approximated by M/G/1 queueing system and the waiting times in the output queues are estimated using the method discussed in Bozer, Cho, and Srinivasan [2]. The analytical results are tested via simulation experiment. The result indicates that the analytical model estimates the expected waiting times in both the input and output queues fairly accurately. Furthermore, we observe that a workpiece spends more time waiting for a processor than waiting for a device even if the processors and the devices are equally utilized. It is also noted that the expected waiting time in the output queue with fewer faster devices is shorter than that obtained with multiple slower devices.

  • PDF

Feasibility Study on Three-Dimensional Backward Tracing Scheme of Rigid-Plastic Finite Element Analysis (강-서성 유한요소 해석에서의 3차원 역추적 기법에 관한 연구)

  • 이진희;강범수;김병민
    • Transactions of Materials Processing
    • /
    • v.4 no.3
    • /
    • pp.267-281
    • /
    • 1995
  • Preform design is one of the critical fields in metal forming. The finite element method(FEM) has been effective in designing preforms and process sequence, for which the backward tracing scheme of the rigid-plastic FEM has been explored. In this work a program using the backward tracing scheme by the rigid-plastic FEM is developed for three-dimensional plastic deformation, which is an extension of the scheme from two-dimensional cases. The calculation of friction between workpiece and die, and handling of boundary conditions during backward tracing require sophisticated treatment. The developed program is applied to upsetting of a rectangular block and to side pressing of a cylindrical workpiece. The results of the two applications show feasibility of the program on three-dimensional plastic deformation.

  • PDF

Effect of Assistant Gas Pressure on Laser Cutting of STS304 (STS304의 레이저 절단에서 보조가스 압력이 미치는 영향)

  • Lee, H.J.;Cho, Y.M.;Yoo, W.J.;Kim, J.D.
    • Journal of the Korean Society for Precision Engineering
    • /
    • v.12 no.3
    • /
    • pp.15-22
    • /
    • 1995
  • This paper presents the effects of assistant gas pressure on laser cutting. To investigate the effects of assistant gas pressure, pressure measuring system was constructed with good handling and precision at low price. The measured results discussed compare with that of laser cutting of STS304. The assistant gas pressure varied with the variation of distance between nozzle and workpiece. The peak pressure existed at some distance and could be known by using the deviced pressure measuring system. The higher assistant gas pressure helps to remove the dross and the exothermic energy out of the material. The quantity of dross beneath the workpiece decreases and the kerf width narrows at measured peak pressure.

  • PDF

Automation design of spent fuel rod consolidation

  • Yun, Ji-Sup;Lee, Jae-Sol;Park, Hyun-Soo
    • 제어로봇시스템학회:학술대회논문집
    • /
    • 1987.10b
    • /
    • pp.613-618
    • /
    • 1987
  • Rod consolidation is a method of increasing spent nuclear fuel storage capacity by disassembling fuel assemblies thus storing the fuel rods in a tighter array. It involves some basic operations which closely resemble to the material handling of a manufacturing process. But all the operations must be controlled remotely in shielded environment from outside due to the highly radioactive nature of the workpiece. In this study the status of the rod consolidation technology in other countries has been surveyed and a feasibility study for the conceptual design of this process have been made.

  • PDF

Development of Core Technologies of Multi-tasking Machine Tools for Machining Highly Precision Large Parts (고정밀 대형 부품가공용 복합가공기 원천기술 개발)

  • Jang, Sung-Hyun;Choi, Young-Hyu;Kim, Soo-Tae;An, Ho-Sang;Choi, Hag-Bong;Hong, Jong-Seung
    • Journal of the Korean Society for Precision Engineering
    • /
    • v.29 no.2
    • /
    • pp.129-138
    • /
    • 2012
  • In this study, three types of large scale multi-tasking machine tools together with core technologies involved have been developed and introduced; a multi-tasking machine tool for large scale marine engine crankshafts, a multi-tasking vertical lathe for windmill parts, and a large scale 5-axis machine tool of gantry type. Several special purpose devices has been necessarily developed for the purpose of handling and machining big and heavy workpieces accurately, such as PTD (Pin Turning Device) with revolving ring spindle for machining eccentric crankshaft pins, hydrostatic rotary table and steady rest for supporting and resting heavy workpieces, and 2-axis automatic swiveling head for high-quality free surface machining. Core technologies have been also developed and adopted on their detail design stage; 1) structural design optimization with FEM structural analysis, 2) theoretical hydrostatic analysis for the PTD and rotary table bearings, 3) box-in-box type cross-rail and octagonal ram design to secure machine rigidity and accuracy, 4) constant spindle rpm control against gravitational torque due to unbalanced workpiece.