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 1 of 14 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 2 of 14 1 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 3 of 14 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 4 of 14 2 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 6 of 14 3 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 7 of 14 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 8 of 14 4 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 10 of 14 5 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 11 of 14 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 12 of 14 6 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 14 of 14 7