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Automated Robotic CellTeam 07
Nathan Casey (ECE)
Josh Tempelman(ME)
Michael Bissetta(ECE)
The Team
Alex Keizer(ME)
2/21Introduction Components Calculations Questions
Project Change3+ years of production anticipated on the part created by the cell
November 16 the OEM notified PQS that the part will bediscontinued in Q1 of 2018
PQS has assigned a new project to the team to replace this one
OEM
SUPPLIER
PQS
Old Part New Part
3/21Introduction Components Calculations Questions
Old Project Components2 Haas SL-20 Lathes
Fanuc M-16iB/10L
End of Arm Tooling
Part Dispensing System
Part Measurement System
Cell Caging and Safety Equipment
4/21Introduction Components Calculations Questions
New System ComponentsHaas SL-20 Lathes
Fanuc M-6iB RJ3iB
End of Arm Tooling
Part Loading Table
Cell Caging and Safety Equipment
Robot Mounting Base
5/21Introduction Components Calculations Questions
Old Robotic ArmFanuc M-16iB/10L
6-axis
10 kg (22 lb) capacity
1885 mm (6.18 ft) reach
Quote received from Antenen Robotics
6/21Introduction Components Calculations Questions
New Robotic ArmFanuc M-6iB RJ3iB
6-axis
6 kg (13 lb) capacity
1373 mm (4.50 ft) reach
Quote received from Antenen Robotics
7/21Introduction Components Calculations Questions
Old End of Arm ToolingRapid Part Change Capability
Robot Arm Mounted
Modular
8/21Introduction Components Calculations Questions
New End of Arm ToolingRapid Part Change Capability
Robot Arm Mounted
Suction Cups Are Industry Standard
Design Norm: Trust
9/21Introduction Components Calculations Questions
Old Part Dispensing SystemDesigned and built by the team
330 part capacity (2-3/4 hour runtime)
62” x 24-1/2” x 63-1/2”
Pneumatic cylinder controlled
Gravity fed
Single-point pickup
10/21Introduction Components Calculations Questions
New Part Dispensing SystemDesigned and built by the team
300 part capacity (4 hour runtime)
44” x 44” x 53”
Powered from servo to Gearbox, Gear, Ring Bearing
Pneumatic Cylinder Fed
Single-point pickup
Design Norms: Caring and Trust
11/21Introduction Components Calculations Questions
Old Measurement SystemOpting to use Keyence probe (GT2-H32)
6 Hz response
Mentor recommended a touch-based probe over laser system
www.keyence.comwww.cognex.com
12/21Introduction Components Calculations Questions
New Measurement SystemNone Required!!!!
13/21Introduction Components Calculations Questions
Old System ControllerPLC Controlled
ab.rockwellautomation.com
Fanuc
Arm
Lathe 1
Lathe 2
Measurement
System
PLC
Part Loader
14/21Introduction Components Calculations Questions
New System ControllerPLC Controlled
ab.rockwellautomation.com
Fanuc
Arm
Lathe
PLC
Part Loader
15/21Introduction Components Calculations Questions
Old Cell Caging
CNC CNCFanuc Robot
Velox Post
Velox Panel
Velox Door
16/21Introduction Components Calculations Questions
New Cell Caging
Light Curtain
Door with Safety Relay
Gate with Safety Relay
8020 Construction
17/21Introduction Components Calculations Questions
Old Part Dispensing CalculationsAngle of Repose
𝐹 = 𝜇𝑁
Cylinder Force
𝐹 = 𝑃𝐴
𝛼 = tan−1(𝜇)
20
25
30
35
40
45
50
30 35 40 45 50 55 60
Slo
pe
of
Ram
p (D
egre
es)
Angle of Repose
30 Deg. Cut
45 Deg. Cut
60 Deg Cut
Repose Requirement
Actual Angle
18/21Introduction Components Calculations Questions
New Part Dispensing CalculationsInertia of Table and Parts
19/21Introduction Components Calculations Questions
New Part Dispensing CalculationsPosition, Velocity, Acceleration, Jerk
20/21Introduction Components Calculations Questions
Questions?
21/21Introduction Components Calculations Questions