1. Work Cell Design and Control
Chapter 5
Work Cell Design and Control

2. Contents Robot Cell Layouts Multiple Robots and Machine Interface
Some Consideration in Work Cell Design
Interlocks, Error Detection and Recovery
Robot Cycle Time Analysis

3. Introduction Step of a company to implement a robotics
program in its operation:
Initial familiarization with the technology
Plant survey to identical potential applications
Selection of application
Selection of the robot
Detailed economic analysis & capital authorization

4. Robot work cell layout Robot-centred work cell In-line robot work cell
Mobile work cell

5. Robot-centred work cell
Center of work cell
High utilization of robot
Method of work part delivery (eg: conveyor, part-feeders, pallets)
Install for single robot servicing production machines

6. In-line robot work cell
more robots located along in-line conveyor
Work is organized so each robot performs assembly operation on each part (eg: welding line)

14. Mobile work cell

15. Mobile work cell
Transport mechanism: floor overhead railing system
Service for more than one station
Problem: to find optimum number of station to service

16. Multiple Robots and Machine Interface
Physical Interference of Robots
Machine Interference

21. Some Modification in Work Cell Design
Modification to other equipment in the cell
Part position and orientation
Part identification problem
Protect of robot from its environment
Utilities
Control of work cell
Safety

26. Work cell control Sequence control Operator interface
Safety monitoring

27. Sequence control Sequence control includes:
Regulate the sequence of activities
Control of simultaneous activities
Making decision to proceed/stop/delay work based on events

30. Operator Interface Operator to interact with robot work cell.
Operator interface is required to:
Program the robot, modify and update programs
Let human operator participate in work cycle
Do data entry by human operator
Do emergency stopping activities

33. Interlock

36. Error Detection and Recovery
When a computer is used to detect and correct errors, this is known as “error detection and recovery”

38. Error Recovery

39. Error Recovery

40. Robot Cycle Time Analysis

41. Robot Cycle Time Analysis

42. Robot Cycle Time Analysis