Flexible Robotic Manipulation
Samuel Bouchard Erik Nieves
Flexibility
Photo: kind of bruin on flickr
Flexibility
Process(Robot)
Output
Input- Command
- Output from previous processes
“External” perturbation- Engineering changes
- Market demand
« Everybody’s biggest fear about automation is to invest large amount of money on equipment that will be useless in 3 years. » - Integrator Proposal
Engineer
Flexibility in Robotic Handling = $
Potential benefits:
• Robotic cell can evolve with product and demand• Reduce cost and reaction time to engineering changes• Improve quality, reduce rejected parts• Reduce significantly fixture cost and complexity• Reduce low value-adding labour• Eliminate health, safety and ergonomic issues• Eliminate equipment overhead cost caused by humans close
to robots
How to Achieve Flexibility?
Know & Think
Sense Act
The Robot: Yaskawa SDA10
The Robotiq Adaptive Gripper
Grasp any object with simplicity.
[see videos on robotiq.com]
The Robotiq Adaptive Gripper
1 part Few different parts 10s-100s different parts
The Demo : Kitting Application
http://www.youtube.com/watch?v=3YPwiwB-B4U
Robot & Gripper
Part 1
Part 2
Part ...
Part n
Parts kitPacking or assembly
Example: Machine Tending
Robot & Gripper
Part 1
Part 2
Part ...
Part n
Rack, jig
Costly machine (welding,
laser cutting, machining...)
Example: Sorting
Robot & Gripper
Part 1
Part 2
Part ...
Part n
Bins
Example: Ground Breakinghttp://www.youtube.com/watch?v=-vK2qU6e6Og
Photo: Dayton Daily News