Abstract
In order to achieve higher productivity and lower cost requirements, robot manipulators have been enrolled in assembling processes in last decades as well as other implementation areas such as transportation, welding, mounting, and quality control. As a new application of this field, the control of the synchronous movements of a planar robot manipulator and moving belt is dealt with in this study. Here, the mentioned synchronization is tried to be maintained in accordance with a guidance law which leads the robot manipulator to put selected components onto the specific slots on the moving belt without interrupting the assembling process. In this scheme, the control of the manipulator is carried out by considering the PI (proportional plus integral) control law. Having performed the relevant computer simulations based on the engagement geometry between the robot manipulator and moving belt, it is verified that the mentioned pick-and-place task can be successfully accomplished under different operating conditions.
Highlights
Robot manipulators have been utilized in many application areas since 1960’s [1, 2]
Regarding the pick-and-place operations in which certain components are placed onto specific slots on a moving belt by means of the end effector of the robot manipulator that constitute the hand of the manipulator, the most common method is to make the placement of the component to the slot once they coincide
Since it is required to halt the moving belt at coincidences of the end effector of the robot and slot in this scheme, a discrete motion strategy is developed for this purpose. Even though this approach works well when relatively light components are under consideration, the increment in the component mass leads to higher acceleration requirements to speed up the belt right after the placement. In such a scheme with a robot manipulator, the belt should be halted at specific points in order to allow the Collaborative and Humanoid Robots manipulator to put the component on the slot
Summary
Robot manipulators have been utilized in many application areas since 1960’s [1, 2]. In addition to their implementations in harsh and unusual environments involving tedious, hard, and hazardous tasks, the productivity, cost reduction, and time effectiveness considerations have put forward the use of the manipulators in the production and assembly applications [3–5]. Since it is required to halt the moving belt at coincidences of the end effector of the robot and slot in this scheme, a discrete motion strategy is developed for this purpose Even though this approach works well when relatively light components are under consideration, the increment in the component mass leads to higher acceleration requirements to speed up the belt right after the placement. SIMULINK® environment, it is decided that the present approach can be applied on mounting lines to attain affordable and cheaper processes
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Published Version
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