Lab_01-Lab Robot Configuration +overview
Faculty of Engineering, University of Windsor
Mechanical, Automotive and Materials Engineering
MECH8290-INDE8900-01-W23
Robotics Fundamentals & Programing
Instructor
Dr. Al-Zaher A., P.Eng.
Lab_01-Lab Robot Configuration +overview
Date: 2023/01/06
2023/01/06
Robotics Fundamentals & Programing By: Al-Zaher, A., P. Eng. Ph.D
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Faculty of Engineering, University of Windsor
Mechanical, Automotive and Materials Engineering
❑ Group Discussion:
o
o
o
o
o
Introduction all students
Team project; understanding the PS
Simulation and Hands-on ---- GRS
New graduate and the real world experiences
Tools to help engineers to get to Digital Manufacturing
❑ Robot Configuration - EOAT
o
o
o
Rigid Body Configuration
Robot DOF
Transformations
❑ References:
✓ Class Handout
2023/01/06
Robotics Fundamentals & Programing By: Al-Zaher, A., P. Eng. Ph.D
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Lab_01-Lab Robot Configuration +overview
Faculty of Engineering, University of Windsor
Mechanical, Automotive and Materials Engineering
Robot Configuration
Run I grip set different
Joints value
– Robot DOF
– USER Frame
– TCP
–2023/01/06
Robotics Fundamentals & Programing By: Al-Zaher, A., P. Eng. Ph.D
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Faculty of Engineering, University of Windsor
Mechanical, Automotive and Materials Engineering
Robot Configuration
Run I grip set different
Joints value
–2023/01/06
Robotics Fundamentals & Programing By: Al-Zaher, A., P. Eng. Ph.D
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Lab_01-Lab Robot Configuration +overview
Faculty of Engineering, University of Windsor
Mechanical, Automotive and Materials Engineering
Transformation – vector operation
2023/01/06
Robotics Fundamentals & Programing By: Al-Zaher, A., P. Eng. Ph.D
5 of 14
Faculty of Engineering, University of Windsor
Mechanical, Automotive and Materials Engineering
Is EOAT Changing Robot Configuration ?
N=6
JC:6R
2023/01/06
N=6
JC: P5R
N=7
JC: 6RP
N=7
JC: P6R
Robotics Fundamentals & Programing By: Al-Zaher, A., P. Eng. Ph.D
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Lab_01-Lab Robot Configuration +overview
Faculty of Engineering, University of Windsor
Mechanical, Automotive and Materials Engineering
Transformation – vector operation
𝑇10
−1
0
=
0
0
0
−1
0
0
0
0
1
0
0
4
4
1
m3
m1
m2
M
f3
4 Units
F
f2
f1
Fig. 02: fixed and mobile orthogonal frames
2023/01/06
Robotics Fundamentals & Programing By: Al-Zaher, A., P. Eng. Ph.D
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Faculty of Engineering, University of Windsor
Mechanical, Automotive and Materials Engineering
Material to review prior to next lecture
• Matrices properties and operations
• Cross product and dot product
• Watch the tutorial on the Blackboard
https://www.youtube.com/watch?v=qPoIv4kgI5w
Cross product is a new vector
2023/01/06
Dot product is a scalar
Robotics Fundamentals & Programing By: Al-Zaher, A., P. Eng. Ph.D
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Lab_01-Lab Robot Configuration +overview
Faculty of Engineering, University of Windsor
Mechanical, Automotive and Materials Engineering
DM-Assembly Workcell: Doors Assembly
2023/01/06
Robotics Fundamentals & Programing By: Al-Zaher, A., P. Eng. Ph.D
9 of 14
Faculty of Engineering, University of Windsor
Mechanical, Automotive and Materials Engineering
Final assembly plant main departments:
➢
➢
➢
➢
➢
➢
➢
➢
➢
2.5 – 3.5 million sq feet
400-600 robots ▼400-600 PLC’s
20-25 miles of conveyors ▼800-1200 vehicles in /system ▼1000-1200 operators/shift ▼62 vehicles/hour output ▲+
HPV. ▼45 -60 Systems needed to make the
car
(280,000 vehicles annually)
GM Fairfax assembly plant Kansas city USA
–Metal forming
–Bottleneck Gate WC
–CT: 3 .75 – 6.0 sec
I
2023/01/06
II
III
Robotics Fundamentals & Programing By: Al-Zaher, A., P. Eng. Ph.D
IV
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Lab_01-Lab Robot Configuration +overview
Faculty of Engineering, University of Windsor
Mechanical, Automotive and Materials Engineering
Challenges of the production systems?
1 shift production: 16x60x8=7680
–12 – CT:5.0
–16 – CT:3.75
–20 – CT:3.0
MF becomes
–run video
Modular
Assembly
More efficient
Less lead time
–1 sec=6000 part per day
Metal forming
New variant, more customization (▲) for free
Throughput: --- new process (▲) ?
Energy consumption (▼) by optimizing motion
▪
▪
2023/01/06
Enterprise moving to Digitization of
Production, Smart production line with
embedded sensors
Using LPT to gain 25% of SPM
Robotics Fundamentals & Programing By: Al-Zaher, A., P. Eng. Ph.D
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Faculty of Engineering, University of Windsor
Mechanical, Automotive and Materials Engineering
MATLAB-Simulink
2023/01/06
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Lab_01-Lab Robot Configuration +overview
Faculty of Engineering, University of Windsor
Mechanical, Automotive and Materials Engineering
MATLAB-Simulink
2023/01/06
Robotics Fundamentals & Programing By: Al-Zaher, A., P. Eng. Ph.D
13 of 14
Faculty of Engineering, University of Windsor
Mechanical, Automotive and Materials Engineering
DM /VC is the solution to Tear down the walls
!!
2023/01/06
Robotics Fundamentals & Programing By: Al-Zaher, A., P. Eng. Ph.D
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