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IE 447 COMPUTER INTEGRATED MANUFACTURING. CHAPTER 9 Material Handling System. Material Handling System. Material Handling  is the movement, storage, control and protection of materials, goods and products throughout the process of manufacturing, distribution, consumption and disposal.

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IE 447 COMPUTER INTEGRATED MANUFACTURING


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    1. IE 447 COMPUTER INTEGRATED MANUFACTURING CHAPTER 9 Material Handling System IE 447 - CIM Lecture Notes - Chapter 9 MHS

    2. Material Handling System Material Handling is the movement, storage, control and protection of materials, goods and products throughout the process of manufacturing, distribution, consumption and disposal. IE 447 - CIM Lecture Notes - Chapter 9 MHS

    3. Material Handling System The Material Handling System (MHS) is a fundamental part of a Flexible Manufacturing system since it interconnects the different processes supplying and taking out raw material, work-pieces, sub-products, parts and final products.  IE 447 - CIM Lecture Notes - Chapter 9 MHS

    4. Material Handling System Components: • Robots • Conveyors • Automated Guided Vehicles(AGVs) • Automated Storage/Retrieve System IE 447 - CIM Lecture Notes - Chapter 9 MHS

    5. Robots in Manufacturing • Industrial robot is a • Programmable • Multi-functional • Designed to move materials, parts, tools or special devices • Through programmed motions • To perform many different tasks IE 447 - CIM Lecture Notes - Chapter 9 MHS

    6. Robots in Manufacturing • First industrial robot was developed in the 1950s • Further advancements enable to utilize robots in • Variety of types • Style • Size • Their functionalities may include but not restricted to • Welding Drilling • Painting Military applications • Assembly Explosive material removal • Pick-and-place • Material handling IE 447 - CIM Lecture Notes - Chapter 9 MHS

    7. Robots in Manufacturing • A typical robot consists of many different part connected to each other • Most robots resembles a human arm • Its motions are controlled by a computer program • Depends on the type of robot, movement capabilities of them are measured by the term degrees of freedom IE 447 - CIM Lecture Notes - Chapter 9 MHS

    8. Robots in ManufacturingRobots with different degrees of freedoms 2-3 dof Robots used in surgery IE 447 - CIM Lecture Notes - Chapter 9 MHS

    9. Robots in Manufacturing • How do robots work: there are 3 power sources IE 447 - CIM Lecture Notes - Chapter 9 MHS

    10. Robots in Manufacturing • How do we know the location of robot arms? • Sensors are used to monitor the motion of robots • Motion of robots is sustained by the power based on the given input (computer algorithm) • Once the order is given, it is important to know the location of robot’s arm/parts • Its movements should be controlled during the entire motion • Robot should also be capable of sensing their environments • Sensors provides feedback to the controller and give flexibility to robots IE 447 - CIM Lecture Notes - Chapter 9 MHS

    11. Robots in Manufacturing IE 447 - CIM Lecture Notes - Chapter 9 MHS

    12. Robots in Manufacturing • Robot movements: • Robots are feasible when they are fast but also the stability is high • The trade-off between speed and stability is sustained by a powerful control system • Robotics and Control are two joint disciplines IE 447 - CIM Lecture Notes - Chapter 9 MHS

    13. Robots in Manufacturing Robotic movements and joints • Robots required to perform • Rotational movements • Radial movements • Vertical movements • Type of joints • Rotational joints • Twisting joints • Revolving joints • Linear joints IE 447 - CIM Lecture Notes - Chapter 9 MHS

    14. Robots in Manufacturing • Analysis of robot motions: Forward and Backward Kinematics concepts • Forward Kinematics: Transformation of coordinate of the end-effectors point from the joint space to the world space • Position of end-effectors is computed based on the joints locations • Backward Kinematics: Transformation of coordinates from world space to joint space • In this concept the position of end-effectors is known in world coordinate system • Required motion is computed based on this information IE 447 - CIM Lecture Notes - Chapter 9 MHS

    15. Robot Configurations L2 (x2, y2) (x1, y1) L3 (x, y) (x, y) L1 (x, y) LL Robot: Base is static, arms are linear joints RRR Robot: Base is static, arms are rotational joints TL Robot: Base is rotational and the arm is linear joint IE 447 - CIM Lecture Notes - Chapter 9 MHS

    16. Robots in Manufacturing • Essentials of robot programming • Requires • The path robot should follow • The points it should reach • Details about how to interpret the sensor data • How and when the end-effectors should be activated • How to move parts between given locations IE 447 - CIM Lecture Notes - Chapter 9 MHS

    17. Robots in Manufacturing • Essentials of robot programming • Programming techniques • Teach-by showing: • Robot can repeat the motion already been done by the programmer • Textual language programming • A computer programming is written using logical statements • Some of the languages are: • Wave, VAL, AML, RAIL, MCL, TL-10, IRL, PLAW, SINGLA and ACL IE 447 - CIM Lecture Notes - Chapter 9 MHS