Robotic Assembly

This book provides comprehensive and integrated approaches for rigid and flexible object assembly. It presents comparison studies with the available force-guided robotic processes and covers contact-state modeling, scheme control strategies, and position searching algorithms. Further, it includes experimental validations for different assembly situations, including those for the assembly of industrial parts taken from the automotive industry.

Setting out relevant examples of state-of-the-art developments and products, this book examines manipulator design, case studies, the importance of product design, programming systems, sensors, and financial issues.

Presents a new design strategy on a concentric design process. The assembly is parallel and simultaneously developed with the analysis and the possible redesign of the product and the assembly process. Several new design models and tools are explained and illustrated. The modular approach of the book allows the reader to navigate through the stages of the design process.

Machines will gradually become programmed using computers which have the knowledge of how the objects in the world relate to one another. This book capitalizes on the fact that products which are manufactured can be designed on the computer and that information about the product such as its physical shape provide powerful information to reason about how to develop the process plan for their manufacture. This book explores the whole aspect of using the principles of how parts behave naturally to automatically generate programs that govern how to produce them. The last decade saw tremendous work on how machines can be programmed to perform a variety of tasks automatically. Robotics has witnessed the most work on programming techniques. But it was not until the emergence of the advanced CAD system as a proper source of information representation about objects which are to be manipulated by the robot that it became viable for automated processors to generate robot programs without human interface. It became possible for objects to be described and for principles about how they interact in the world to be developed. The functions which the features designed into the objects serve for the objects can be adequately represented and used in reasoning about the manufacturing of the parts using the robot. This book describes the necessary principles which must be developed for a robot to generate its own programs with the knowledge of the world in the CAD system.

This book focuses on the design of Robotic Flexible Assembly Cell (RFAC) with multi-robots. Its main contribution consists of a new effective strategy for scheduling RFAC in a multi-product assembly environment, in which dynamic status and multi-objective optimization problems occur. The developed strategy, which is based on a combination of advanced solution approaches such as simulation, fuzzy logic, system modeling and the Taguchi optimization method, fills an important knowledge gap in the current literature and paves the way for future research towards the goal of employing flexible assembly systems as effectively as possible despite the complexity of their scheduling.

In the western world, economic logic (and need) has replaced the indentured craftsman by computer controlled machining centres within manufacturing industries. The same rationale is the incentive behind the development of robots that are technically capable of performing assembly tasks, and the inevitable, albeit slow, adoption of these robots by the manufacturing industries. This book is based upon the author's knowledge and first hand experience of the manufacturing industries of North America and the UK in general, and the UK's robotics industry in particular. The general and specific implications of per forming an assembly task robotically are discussed, the majority of which are not specific to anyone sector of the manufactur ing industry, nor to any particular size of product being manu factured. This book should be of interest to those who are interested in or involved with the use of robots for assembly. The 'veils of mystic' and misinformation on robots and the assembly process are subsequently removed.

Process planning detennines how a product is to be manufactured and is therefore a key element in the manufacturing process. It plays a major part in detennining the cost of components and affects all factory activities, company competitiveness, production planning, production efficiency and product quality. It is a crucial link between design and manufacturing. In spite of the importance of process planning in the manufacturing cycle, there is no fonnal methodology which can be used, or can help to train personnel for this job. Process planning activities are predominantly labor intensive, depending on the experience and the skill and intuition of the planner, and therefore often precludes a thorough analysis and optimization of the process plan which nearly always results in higher than necessary production costs, delays, errors and non-standardization of processes. Process planning is regarded as an art and not a science. Research in the field of process planning has indicated that all experts have their own expertise and one expert's experience might be different from that of another. It is rare, therefore, for two planners to produce the same process. Each process will produce the part as specified, although different processes will result in different processing times and costs. The question is, who is an expert? By definition an expert is one 'having or manifesting the knowledge, skill and experience needed for success in a particular field or endeavor', or 'one who has acquired special skill in or knowledge and mastery of something'.