Quattro Application Guidance

Webinar November 6, 2009

Presented by Kevin SteinAdept Applications

Agenda

• USDA• Platforms• Ingress Protection• Application Guidance• Questions

What’s new?• USDA (meat & poultry)

– Accepted– September 24th, 2009

• USDA (dairy) – In process– Pending 1st article

• World’s fastest robot– http://www.youtube.com/watch?v=GOiAsQ4aP-g

Quattro s650HS

• Hygienic Sanitary

• High Speed

USDA – what is it?

• USDA - 2 divisions– Meat and Poultry– Diary

• Materials• Design• Seals

USDA Materials

• FDA – Responsible for material compliance– FDA CFR Title 21

• Standards– ISO 14159, 14159-1– 3A– NSF– AMI

USDA - Design

• Tenacity – Rigorous design lifecycle • Drip, drain, drawn• Features

– No cracks, crevices• Width must be 2x depth

– Radii• ¼” or 0.050” chamfer

– Surface Finish • 32 micro inch or better

– Coatings

USDA - Seals

• Controlled Compression– Prevent Ingress / Egress

• Compliant material– CFR Title 21

• Rub test– No particulate

• All external hardware is sealed, Everything!

Quattro Changes

• Phasing in new parts – Standard Quattro robots

• New inserts and bushings• Stainless Steel balls • Springs won’t fall off

– USDA• AIB• Machined casting features• Cable seal kit

Quattro USDA components

Quattro 650H vs. 650HS

• List Price $ 49,985• Standard• Current AIB• Alpha drive oil• Available now

• List Price $ 54,735• USDA• Machined AIB• Alpha Drive FDA grease• Available around March 2010

Subject to change without notice!

USDA - Overview

• Bacteria is the enemy!– Quattro 650HS offers

• USDA acceptance• IP wash down• Chemical resistance• Tool less disassembly• Ease of inspection

– Designed to improve food safety and quality for consumers– Cleanliness is not just nice to have.  It can literally be a

matter of life and death for both customer and company.

– Choosing Quattro lowers manufacturing costs while improving food safety.

Agenda

• USDA• Platforms• Ingress Protection• Application Guidance• Questions

Platforms

• What are the options– Current

• 60D• 4:1• 185D

– Coming soon ( Early next year)• P30 (2nd iteration in process, control algorithm needs improvement)

• P31 ( available January)

• P32 ( available in Q4FY10)

• P34 ( available in Q4FY10)

Platforms – Decision Tree

Standard Platforms• Does the application require more than 45 degrees?

– NO Use the 60 degree– YES Does the application require hygienic wash-down?

– NO Use the 4:1 – YES Use the 185 degree

For 3rd generation platforms (P31-P34)• Does the application require more than 45 degrees?

– NO Use the P31– YES Does the application require more than 90 degrees?

• NO Use the P32• YES Use the P34

Platforms - P30 • Fixed Platform

– 3-axis Quattro (no rotation)– 25x stiffness improvement– 10x higher payload inertia– As seen at Pack Expo 2009

Platforms – P31

• Rotation range +/- 46.25˚

• Part Number– 09503-000

Platforms – P32

• Rotation range+/- 92.5˚

Platforms – P34

• Rotation range+/- 185˚

Agenda

• USDA• Platforms• Ingress Protection• Application Guidance• Questions

Wash Down – IP rating

• Ingress Protection (IP xx)– Entire robot is IP66

• protected from solid objects – dust, particulate

• provides protection from liquids– Water sprayed from any direction

– Platform is IP67• Protected from solid objects• Protected against immersion 15cm

to 1m

Chemicals encounteredWe cannot test all chemicals!

Dura Foam 263

Chloro Clean 269

Multiquat 455

Liquid Fury

Enrich 299

Potassium Hydroxide (<15%), Sodium Tripolyphosphate <15%), Proprietary (<5%) Sodium Hypochlorite (<5%)

Sodium Hydroxide (<15%), Sodium Hypochlorite (<5%)

Alkyl dimethyl benzyl ammonium chloride (3%), Octyl decyl dimethl ammonium chloride (2.25%),

Sodium Tripolyphosphate (<14%), Sodium Metasilicate Anhydous (<20%), Triehenolamine ( <10%)

Sodium Hydroxide (<10%), Sodium Hyposhlorite (<8%)

Agenda

• USDA• Platforms• Ingress Protection• Application Guidance• Questions

Robot Performance

Best

Acceptable

Performing long motions, at the top of the workspace, the inner arms have to travel the full range of motion, less efficient. When long moves are performed lower in the workspace the inner arms travel a shorter distance to reach the same position, more efficient.

Robot PerformanceLong move at top of the workspace

Long move lower in the workspace

Platform Stiffness

Best

Acceptable

Good

Each platform is the most stable closer to the top, less flex in outer arms. As the platform moves lower in the workspace the outer arms become less stable. Therefore, the platform, positional repeatability, can be influenced by fast motions/ payloads

Platform Stiffness

More Stable Less Stable

Performance and Stiffness

• Application dependant– Best of both

• Middle of cylinder• 100-200mm from top of

workspace

– Stiffness• 60D, P31• Top of workspace

– Performance• Long motions lower in

workspace, near frustum

Dynamic Effects

• Moving in X, Y or Z tool orientations will influence ALL other axes of motion. This effect is more pronounced in some regions of the workspace than others.

• The most pronounced effect is motions of X, Y, or Z affecting the orientation of the flange, specifically theta. At high changes of acceleration, this effect can be quite visible. Platform “swim” is defined as undesired rotation of the flange during a motion.– swim can be reduced by decreasing the deceleration of the pick move

and the acceleration of the depart move.– The swim effect is also sensitive to the orientation of the flange.

Operating at orientations that are closest to world ROLL 180 (platform closest to square) reduces this effect.

Location effect on stiffness

The Quattro robot platform is inherently more stiff with tool orientation at locations closer to the world X axis than at locations further out in the world Y direction. The locations where the robot is stiffer and more accurate are within the cylindrical region of the workspace (higher up in the workspace) along the X direction of travel.

Outer Arms

• Manufacturing Tolerances– Build process allows for variation– Does not effect performance!

• Taught locations– Use caution when

• Outer arms are replaced• Take care not to swap arms

– When arms are swapped• Locations might need to be re-taught

Application Guidance Overview

• Optimal performance is along world X direction

• Platform is most rigid at top of cylindrical workspace

• Robot is faster lower in the workspace, bottom of cylindrical section

• Platform stiffness is the greatest when theta rotation is kept to a minimum

• Combining these points puts you in the sweet spot of the workspace.

Agenda

• USDA• Platforms• Ingress Protection• Application Guidance• Questions

Questions?