23FS-MECH5131-hw3-Robot spec

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University of Cincinnati, Main Campus *

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5131

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Computer Science

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Dec 6, 2023

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University of Cincinnati College of Engineering and Applied Science 1 20MECH5131/6031 Intro to Robotics Homework#3 - Robot Spec and Selections (80 pts) Student Name: ___________________________ Score: ________________________ Answer the following questions and submit your work online in a SINGLE file. 1. (6 pts) (a) What is the payload? (3 pts) (b) Why is it important in selecting robots for material handling applications? (3 pts) 2. (8 pts) (a) What is Tool Center Point (TCP)? (2 pts) (b) Why knowing such a point is critical in robot applications? (2 pts) (c) Use sketches to illustrate TCP with a tool as an end effector, and with a gripper as an end effector. (4 pts) 3. (6 pts, 2 pts each) For an application of using robots to assemble the laptop circuit board, what are the top three robot selection criteria you would use? Explain why. 4. (6 pts) For a given joint in a robot, (a) What is the accuracy? (2 pts) (b) What determines its accuracy? (4 pts) 5. (9 pts) (a) What is the cycle time of a robot application? (3 pts) (b) Give at least three factors that affect the cycle time. (6 pts) 6. (8 pts) A cylindrical robot has a T-type wrist axis that can be rotated a total of 4 rotations (each rotation is a full 360 degrees). The mechanical errors in the joint and the input/output links can be described by a normal distribution with its mean at any given addressable point, and a standard deviation of 0.25. It is desired to be able to position the wrist with a control resolution of 0.5 degrees between adjacent addressable points. (a) Calculate the accuracy of the joint and its repeatability. (5 pts) (b) Determine the number of bits required in the binary register for that axis in the robot’s control memory. (3 pts) 7. (37 pts) Case study. If your last name starts with the letter A – M, you will do Case Study 1. If your last name starts with the letter N – Z, you will do Case Study 2. Use the robot specification resources in the lecture slides, internet, and robot manufacturer handbooks, a) Determine five robot selection criteria for the application in your case, explain why they are chosen, and describe them in the importance order. (10 pts) b) Based on the above five criteria, select three robots from three vendors that would work in the application. Use the robot selection worksheet from the lecture slides, for each vendor, list the manufacturer name, robot model, configuration, DOF, max reach, repeatability or accuracy, range of joints, speed of joints, and other relevant major specifications. (10 pts) c) Illustrate three robots’ work envelope s. (6 pts) d) Recommend one of the three chosen models from b) and use the Weighted Rating Method to justify your recommendation. (11 pts)

University of Cincinnati College of Engineering and Applied Science 2 Case Study1: Robot selection for Die-casting application Die casting is a manufacturing process in which molten metal is forced into the cavity of a mold under high pressure. The process is used to cast metal parts with sufficient accuracy so that subsequent finishing operations are usually not required. The typical die-casting production cycle consists of casting, removing the part from the machine, quenching, and trimming. Work tends to be hot, repetitive, dirty, and generally unpleasant for humans. A company wants to use robots to replace humans for die- casting production. You are assigned the job of designing this automation application. The product in the die-casting is a faucet knob that is used in a home kitchen. The die-casting machine would make four faucet knobs in one motion. The robot would handle the parts through the whole process, including unloading the knobs from the die-casting machine, putting them into the quench tank, taking them to the trim press, and placing finished knobs on an exit conveyor. The application is illustrated in the figure below. Case Study 2: Robot Selection for Assembly Line A company wants to use a robot to replace humans to assemble the headlights used in cars. A robot will pick up a component (projector lens) from the pallet and place it into the sub-assembly (Housing) on the work carries. See the illustration below. You are assigned the job of selecting a robot for this application.

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