Re‐configurable dual‐robot assembly system design, development and future directions

Abstract

This paper describes the design and development of a re‐configurable dual‐robot assembly system using off‐the‐shelf re‐configurable pneumatic modules, Hall‐effect sensors, a vision system, and a programmable logic controller (PLC). Each robot arm consists of three sets of pneumatic modules and a pneumatic gripper. Each module consists of a pneumatic housing, an air cylinder, and a Hall‐effect sensor, and provides one degree of freedom. Solenoids are used to redirect airflow and thereby extend and/or retract the air cylinder. A vision system is used for fixture inspection. A conveyor and part stopper are designed to transfer and stop pallets. All these modules, the gripper, the part stopper, and the vision system are controlled and synchronized using a PLC. At the end of this paper, a framework for making the system over the Web for remote operation and diagnosis is proposed and described.

Citation

Hsieh, S. (2003), "Re‐configurable dual‐robot assembly system design, development and future directions", Industrial Robot, Vol. 30 No. 3, pp. 250-257. https://doi.org/10.1108/01439910310473960