Daynier Rolando Delgado Sobrino

Offline Programming of an ABB Robot Using Imported CAD Models in the RobotStudio Software Environment

Current trend in automation area is focused to the innovation in all fields of the technologies and technological devices. Probably industrial robots and manipulators belong to development too. Industrial robots and manipulators belong to progressive elements of automation. Modern concept uses the offline programming as a tools integration of the virtual CAD models into programming environment. Offline programming carries a lot of advantages for example possibility of the programming without real robot system, possibility of the collision state debugging. Implementation of CAD models in virtual environment of Robot studio achieves better workplace station of creating robotic system and also it generates rather trajectories of the robot path in this system.

Layout Redesign and Material Flow Analysis at a Flexible Assembly Cell Supported by the Use of Simulation

This paper essentially emerges from scientific and teaching needs of a university institute while trying deepen into a more formal analysis and/or design process of the material flow and associated manufacturing decisions, e.g.: the layout. Fulfilling such needs, the paper makes allusion to key manufacturing decisions associated to the material flow, while stressing the fact of their mandatory consideration when integrally addressing the primary problem. A partial application of the ideas takes place at a flexible assembly cell of the institute; some of the main results of it are: (1) a more formal description of the whole cell including alternative material flow scenarios, (2) the proposal of a new scenario implying the redesign of the cell conception, i.e.: the layout and thus material flow itself, (3) the simulation and comparison of material flow scenarios selecting the best one in terms of both the MF and layout, among others. At the end, the integration of all these previous elements clearly contributed to the solution of the research’ problem and objectives traced within the frame of the research.

On the Possibilities of Intelligence Implementation in Manufacturing: The Role of Simulation

Over the years, the world of manufacturing has witnessed significant work in the area of Intelligent Manufacturing. Special efforts have been made in the implementation of new technologies, management and control systems, among many others which have all evolved the field. Closely following all this and due to the scope of new projects and the need of turning the existing flexible ideas into more autonomous and intelligent ones, i.e.: Intelligent Manufacturing, the present paper emerges with the main aim of contributing under a this new intelligent denomination to the design and analysis of the material flow in either systems, cells or workstations. For this, besides offering a conceptual basis in some of the key points to be taken into account and some general principles to consider in the design and analysis of the material flow, also some tips on how to define other possible alternative material flow scenarios and a classification of the states a system, cell or workstation are offered as well. All this is done with the intentions of relating it with the use of simulation tools, for which these have been briefly addressed with a special focus on the Witness simulation package. For a better comprehension, the previous elements are supported by a detailed layout, other figures and a few expressions which could help obtaining necessary data. Such data and others will be used in the future, when simulating the scenarios in the search of the best material flow configurations.

Virtual Commissioning of a Robotic Cell Prior to its Implementation Into a Real Flexible Production System.

Abstract With the rise of the Industry 4.0 and the digitization increase in the field of design of the automated devices and systems, raises the requirements to digitize all stages of the design processes, including Virtual Commissioning. This technology allows to verify the functionality of the device and/or systems, generate OLP programs for robots and test the functionality of the PLC code on the virtual model. The article presents research into the possibility of implementing a robotic cell into a real flexible production system in the Laboratory in order to eliminate defective products after an automatic control through the Quality-handling station. This technology was verified on the basis of a methodology through a virtual system model and a virtual control system in the Software-in-Loop using the Siemens Tecnomatix Process Simulate software.

Integrating Production and Maintenance Planning as an Element of Success at the Tactical Level: A Fuzzy Control Theory Approach

Abstract This contribution focuses on the topic of the Production–Maintenance integration at the tactical level and what it presents to the correct functioning and success of companies. For these purposes, a general framework for the integration of production and maintenance planning at the tactical level is introduced and described within this paper. It considers the key elements from the Value Analysis, Fuzzy Control and the Reliability-Centered Maintenance theories and implements them into the context of an existing method for selecting maintenance strategies. The proposal mainly focuses and addresses the definition of 1/ the roles played by the fixed assets that do really add value to the production system, 2/ the best maintenance strategy for each asset, and also addresses 3/ the modifications that, may be needed in the tactical production plan due to potential capacity problems in the maintenance subsystem.

Analysis of the Surface Morphology of the S235JRG1 Steel After an Abrasive Water Jet Cutting Process

Abstract The present paper discusses the impact of the speed of an abrasive water jet cutting process on some surface properties and morphology of the S235JRG1 steel. The values of the cutting speeds used for the analysis were of 100, 150 and 200 mm.min−1 respectively. A contact profile method was used to analyze the surface roughness during the conducted tests. In this study, the observed surface roughness parameters were the Ra, Rt and Rz, respectively. At the same time, these parameters were measured in three positions, i.e.: at the inlet (A), in the middle (B) and at the exit position (C) of the water jet nozzle with respect to the machined material. The experimental study showed that the roughness of the surface reached higher peaks and was more pronounced at the exit position (C) of the water jet. Similarly, it was also concluded that a better quality of the surface was achieved at a speed of 150 mm.min−1.

Using Virtual Reality as a Support Tool for the Offline Robot Programming

Abstract The present article focuses on the possibilities of using Virtual Reality (VR) as a supporting tool by using the offline programming method for industrial robots. The philosophy of using such a process is hierarchically linked to the observance of methodological procedures for the proposal new workstations with using industrial robots. First, it is necessary to develop CAD models of the projected workplace, which can be imported into a suitable simulation environment for the creation of robotic simulations with support for visualization to the immersive VR environment. In our case, the CAD software Catia was used to develop a workstation, followed by integration of the CAD database into the simulation environment of Process Simulate (PS). Support for the visualization in the immersive environment of the Virtual Reality of Process Simulate was vested using the glasses headset HTC VIVE.

Integrative Programming of Production and Preventive Maintenance Tasks in an Environment of Identical Parallel Machines: Proposal of a Construction Heuristic

Abstract The article presents a constructive heuristic for the integrated programming of production orders and preventive maintenance (PM) interventions in an environment of identical parallel machines, aimed at minimizing the completion time of the last scheduled job (makespan). Unlike other proposals found in the literature, the one here considers that the time between preventive interventions is not previously known, but instead, this is assumed as one of the decision variables of the system in the beginning of each of these interventions; in addition, the proposal also considers the possibility that not all jobs have the same release time. The design of the heuristic algorithm is based on the general approach of the Longest Processing Time dispatch rule, with a slight modification in its conception to consider the random character of the equipment failures and their impact on the execution time of the tasks. Consequently, a simple dispatch rule called rj - LPT was also proposed to comply with one of the steps of the heuristic, as well as an algorithm to determine the minimum dimension for the makespan, which constitutes the basis of the stop criterion linked to the initial solution.

Measuring and evaluating the differences of compared images for a correct car silhouette categorization using integral transforms

Abstract The present paper focuses on the analysis of the possibilities of using integral transforms for measuring and evaluating the differences of compared images (car silhouettes) with the purpose of a correct car body categorization. Approaches such as the light intensities frequency change, the application of discrete integral transforms without the use of further supplementary information enabling automated data processing using the Fourier-Mellin transforms are used within this work. The calculation of the several metrics was verified through different combinations that implied using and not using the Hamming window and a low-pass filter. The paper introduced a method for measuring and evaluating the differences in the compared images (car silhouettes). The proposed method relies on the fact that the integral transforms have their own transformants in the case of translation, scaling and rotation, in the frequency area. Besides, the Fourier-Mellin transform was to offer image transformation that is resistant to the translation, rotation and scale.

On the Effect of the Cutting Speed of a Water Jet Abrasive Cutting Process on the Surface Morphology of the Low Carbon Steel S235

In order to increase the cutting and breaking capacity of abrasive water jet machining (AWJM), abrasive particles are usually added to water. The AWJM technology is generally used for harder and heavier machinable materials like thick sheets, composite materials with metal and ceramic properties and others within these categories to just cite a few. The contribution is mainly focused on the analysis of the surface properties of the steel S235 after the cutting process, and this depending on the cutting speed of the water jet. Three different cutting speeds were used for the analysis because this cutting parameter significantly affects the resulting quality of the machined surface. A contact profile method was used to analyze surface roughness. The observed surface roughness parameters were the Ra, Rt and Rz respectively. The above-mentioned surface roughness parameters were measured in three positions, i.e.: at the inlet, middle and exit positions of the water jet with respect to the machined material.