INTRODUCTION
The School of MPE at Nanyang Technological University and Gintic Institute of Manufacturing Technology are currently involved in a
project to improve agility and flexibility in automation systems by developing a “rapidly reconfigurable” robot workcell. The key to the
concept of reconfigurability in automation lies in the component-based technology. These components can be rapidly assembled and
reconfigured to form a robotic workcell to execute a specific task or process.
MOTIVATION
Presently, automated manufacturing systems and devices are designed to operate with few significant changes and for a range of
specific product. Consequently, it is not cost effective to reconfigure them for other products. However, the proposed componentbased concept will overcome this and have the following benefits :
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Components can be reused for different workcell configurations at minimal cost.
Initial installment cost of such a system can be moderated by purchasing the minimum required parts.
Maintenance and upgrade of the system becomes easy by replacing the malfunctioned or outdated components.
Converting one manufacturing line from one product to the other can be done effectively so as to keep up with the rapid
changing marketplace.
MODULAR RECONFIGURABLE WORKCELL
• Workcells are made of standard modular components, i.e. actuators, links,
end-effectors, fixtures, and sensors.
• Components can be rapidly assembled and configured to form a robotic
workcell to execute a specific task or process.
• Existing workcell can be disassembled and combine with other components to
form a new workcell for a different task.
• The modular concept is applied to both software and hardware components.
A Modular Reconfigurable Workcell Layout
SOFTWARE COMPONENTS
Workcell
Tasks
Workcell
Layout
Workcell Layout
Optimization
Algorithm
Robot
Configuration
Optimization
Algorithm
Robot
Kinematics
Model
Graphical
Workcell
Model
Task Planner
Task
Scheduler
Robot
Dynamics
Model
Workcell
Supervisor
Device
Controller
Graphical
Display
Calibration
Algorithm
Database
Software Components
HARDWARE COMPONENTS
An entire robot workcell consists of
modular robot systems, material
handling systems, sensors, device
controllers and other peripheral
devices.
• Software environment provides the process
optimization and control functions for the
reconfigurable workcells.
• A supervisory control network ensures the proper
flow of activities through the workcells and provides
possible means of recovery upon error detection.
• SEMORS (The Simulation Environment for Modular
Robot System) is a software application currently
being developed to manage the off-line
programming and the real-time operation of the
robot. It enables verification of the robot operation
via real-time graphical simulation thus reducing
planning efforts.
Figure 6 GUI of SEMORS
GUI of SEMORS
APPLICATION SCENERIO
• Precision assembly task, such as
miniature electronics parts, that belongs
to the mid-volume/mid variety range - a
compromise between flexibility and
productivity.
• Light machining operations, such as
grinding, deburring, polishing, using
modular parallel robot configurations.
• Other application areas include odd
shaped insertion, workspace fitting, rapid
deployment and rapid development.
Group Leaders: Dr. Chen I-Ming (Ext: 6203); Dr Yeo Song Huat (Ext: 4701); Dr Chen Guang (Ext :1434)
Location : Robotic Research Centre URL: http://www.ntu.edu.sg/mpe/research/groups/Mod_Robotics/risc.htm