Tools for Robotics in SME Workcells: Challenges and Approaches for Calibration and Registration

Abstract

An overview of the challenges associated with robot workcell calibration and registration is presented, with a particular focus on the challenges faced by small-and medium-sized manufacturing enterprises (SMEs). Considerations for the barriers to integrating systemsof-systems workcells are described, and the proposed solutions from literature are presented. We discuss the impacts that calibration and registration have on many common robot applications, and highlight specific use cases of robot-sensor and robot-robot system registration.

A Sustainable Decision-Making Framework for Transitioning to Robotic Welding for Small and Medium Manufacturers

“…Labor and overhead cos t ($/hour) × Weld deposit (kg/part) Deposition rate (kg/hour) × Operating factor (2) where weld deposit is the portion of a fusion weld that has been completely melted during welding; deposition rate is the rate that weld metal can be deposited by a given electrode or welding wire, expressed in kg per hour; and operating factor is the time that the welder is actually welding, which is the arc time divided by the total hours worked multiplied by 100 and expressed as a percentage. The cost of the shield gases can be calculated with the following equation: SGC = Arc time × Gas flow rate × Cost of gas per cubic foot…”

“…These changes include automation realization on the shop floor and increased customer expectations regarding carbon footprint reduction, waste, and unemployment [1]. To address these concerns, SMEs acknowledge the importance of sustainable manufacturing to assist in the transition from traditional to robotic manufacturing processes [2,3]. Statistics show that in 2015, robotics sales increased by 15%, which is the highest percentage increase ever recorded for one year.…”

“…The National Institute of Standards and Technology (NIST) identified several challenges associated with robotic transition and indicated that while robotics are becoming increasingly easier to use, they are more difficult to integrate due to the sacrifices required to reduce cost and broaden application scope. The challenges include locating the part, grasping the part, moving the part, placing the part within the assembly, manipulating parts, fastening, and other moves that need to be calibrated [2]. Talalaev et al [9] developed a methodology that considers product analysis and robot cell configuration, and applied the method in a metal inert gas or metal active gas (MIG/MAG) process.…”

Guideline for automatic guided vehicle calibration

“…A variety of different approaches to AGV navigation are discussed in the literature [1,2]. Navigation approaches can be separated into two broad categories, those that perform dead reckoning and those that rely on external positioning references.…”

“…These robotic systems make use of many innovative sensing technologies and control techniques to improve their versatility [1]. The proper functioning of these transport systems relies on the accuracy and repeatability of the Automatic Guided Vehicle (AGV) used to move materials and equipment around the workspace.…”