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Journal articles on the topic 'Simulation of robotic cell'

Author: Grafiati

Published: 28 June 2021

Last updated: 1 February 2022

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1

Sabourin, Laurent, Kévin Subrin, Richard Cousturier, Grigoré Gogu, and Youcef Mezouar. "Redundancy-based optimization approach to optimize robotic cell behaviour: application to robotic machining." Industrial Robot: An International Journal 42, no. 2 (March 16, 2015): 167–78. http://dx.doi.org/10.1108/ir-07-2014-0371.

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Purpose – The robot offers interesting capabilities, but suffers from a lack of stiffness. The proposed solution is to introduce redundancies for the overall improvement of different capabilities. The management of redundancy associated with the definition of a set of kinematic, mechanical and stiffness criteria enables path planning to be optimized. Design/methodology/approach – The resolution method is based on the projection onto the kernel of the Jacobian matrix of the gradient of an objective function constructed by aggregating kinematic, mechanical and stiffness weighted criteria. Optimized redundancy management is applied to the 11-DoF (degrees of freedom) cells to provide an efficient placement of turntable and track. The final part presents the improvement of the various criteria applied to both 9-DoF and 11-DoF robotic cells. Findings – The first application concerns the optimized placement of a turntable and a linear track using 11-DoF architecture. Improved criteria for two 9-DoF robotic cells, a robot with parallelogram closed loop and a Tricept are also presented. Simulation results present the contributions of redundancies and the leading role of the track. Research limitations/implications – The redundancy-based optimization presented and the associated simulation approach must be completed by the experimental determination of the optimization criteria to take into account each machining strategy. Practical implications – This work in robotics machining relates to milling operations for automotive and aerospace equipment. The study is carried out within the framework of the RobotEx Equipment of Excellence programme. Originality/value – The resolution method to optimized path planning is applied to 9- and 11-DoF robotic cells, including a hybrid robot with a parallelogram closed loop and a Tricept PKM.

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NOH, YONG DEOK, and BRUCE HERRING. "Simulation model for an individual robotic manufacturing cell." International Journal of Production Research 26, no. 1 (January 1988): 63–79. http://dx.doi.org/10.1080/00207548808947841.

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3

Sękala, A., A. Gwiazda, G. Kost, and W. Banaś. "Modelling and simulation of a robotic work cell." IOP Conference Series: Materials Science and Engineering 227 (August 2017): 012116. http://dx.doi.org/10.1088/1757-899x/227/1/012116.

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Steed, Clint Alex. "A simulation-based approach to develop a holonic robotic cell." Industrial Robot: the international journal of robotics research and application 46, no. 1 (January 21, 2019): 128–34. http://dx.doi.org/10.1108/ir-07-2018-0149.

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Purpose This paper aims to present an approach for the simulation of a heterogeneous robotic cell. The simulation enables the cell’s developers to conveniently compare the performance of alternative cell configurations. The approach combines the use of multiple available simulation tools, with a custom holonic cell controller. This overcomes the limitation of currently available robot simulation packages by allowing integration of multiple simulation tools including multiple vendor simulation packages. Design/methodology/approach A feeding cell was developed as a case study representing a typical robotic application. The case study would compare two configurations of the cell, namely, eye-in-hand vision and fixed-camera vision. The authors developed the physical cell in parallel with the simulated cell to validate its performance. Then they used simulation to scale the models (by adding subsystems) and shortlist suitable cell configurations based on initial capital investment and throughput rate per unit cost. The feeding cell consisted of a six-degree of freedom industrial robot (KUKA KR16), two smart cameras (Cognex ism-1100 and DVT Legend 500), an industrial PC (Beckhoff) and custom reconfigurable singulation units. Findings The approach presented here allows the combination of dissimilar simulation models constructed for the above mentioned case study. Experiments showed the model developed in this approach could reasonably predict various eye-in-hand and fixed-camera systems’ performance. Combining the holonic controller with the simulation allows developers to easily compare the performance of a variety of configurations. The use of a common communication platform allowed the communication between multiple simulation packages, allowing multi-vendor simulation, thereby overcoming current limitation in simulation software. Research limitations/implications The case study developed here is considered a typical feeding and assembly application. This is however very different from other robotic applications which should be explored in separate case studies. Simulation packages with the same communication interface as the physical resource can be integrated. If the communication interface is not available, other means of simulation can be used. The case study findings are limited to the specific products being used and their simulation packages. However, these are indicative of typical industry technologies available. Only real-time simulations were considered. Practical implications This simulation-based approach allows designers to quickly quantify the performance of alternative system configurations (eye-in-hand or fixed camera in this case) and scale, thereby enabling them to better optimize robotic cell designs. In addition, the holonic control system’s modular control interface allows for the development of the higher-level controller without hardware and easy replacement of the lower level components with other hardware or simulation models. Originality/value The combination of a holonic control system with a simulation to replace hardware is shown to be a useful tool. The inherent modularity of holonic control systems allows that multiple simulation components be connected, thereby overcoming the limitation of vendor-specific simulation packages.

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KUTS, Vladimir ., Tauno  OTTO, Toivo TÄHEMAA, and Yevhen BONDARENKO. "DIGITAL TWIN BASED SYNCHRONISED CONTROL AND SIMULATION OF THE INDUSTRIAL ROBOTIC CELL USING VIRTUAL REALITY." Journal of Machine Engineering 19, no. 1 (February 20, 2019): 128–44. http://dx.doi.org/10.5604/01.3001.0013.0464.

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During the years common understanding of the possibilities and perspectives of Virtual Reality (VR) usage has been changed. It is thought that VR is mainly used in entertainment purposes, but it is being used already for many years in different industries, and now with easier access to the hardware it became a helpful and accessible tool that could be used and developed in any field of human activities. In manufacturing, immersive technologies are mainly used nowadays for the visualisation of processes and products combining those visuals into the factory Digital Twin (DT) which is possible to view from the inside look. This feature is already being used in several manufacturing simulation tools, which enable to view onto industrial line / robotic cells via Virtual Reality glasses. However, the potential of using simulations with VR in manufacturing is not fully uncovered. The main aim of this, industrial robotics targeted research is to enable besides simulation also universal control algorithms through Virtual Reality experience, produced by game engine Unity3D, which can be easily modified for a wide range of industrial equipment. The primary outcome of this work is the development of the synchro-nisation model of real and virtual industrial robots and experimental testing the developed model in Virtual Reality and shop floor labs

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6

Sharma, Ankit, A. K. Jha, and Arpan Halder. "Layout optimization of a robotic cell for foundry application by CAD based point cloud modeling – a case study." Industrial Robot: An International Journal 44, no. 6 (October 16, 2017): 788–97. http://dx.doi.org/10.1108/ir-01-2017-0005.

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Purpose In an industrial robotic cell, the optimal layout planning problem needs critical analysis, as it indirectly affects the manufacturing time and cost involved in the production process. This paper aims to propose a generic three-step robotic cell layout planning method and aims to enhance the adaptability of robotic manufacturing cell in small-scale industries. Design/methodology/approach The method uses the data generated from the point cloud modeling and simulation of the objects (machines and robot) to optimize their positions and orientations in the cell. The simulated annealing algorithm has been used to solve the optimization problem with minimum joint displacement criterion. This approach is critically analyzed and discussed against the data collected from an industrial robotic cell in a foundry shop of a pipe manufacturing industry. Findings More than 50 per cent reduction in the net joint movement of the robot has been achieved. Immediate feedback of the results by a three-dimensional view of the optimal cell layout without using any commercial robotic simulation package. Originality/value The layout optimization of an industrial robotic cell based on the point cloud modeling of its objects is the novelty of the method.

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7

Hwang, Gilgueng, Preeda Chantanakajornfung, and Hideki Hashimoto. "Versatile Robotic Biomanipulation with Haptic Interface." Journal of Robotics and Mechatronics 19, no. 5 (October 20, 2007): 585–91. http://dx.doi.org/10.20965/jrm.2007.p0585.

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This paper presents a multi-scale extension of versatile robotic biomanipulation powered by single-master multislave (SMMS) bilateral teleoperation. We tested the potential possibility of SMMS multiscale extension to variety of biomanipulation applications. Our target goal is to design a multi-scale biotweezing tool. The SMMS configuration was previously proven useful for single manipulation control. First, cell handling experiments such as pick-and-place, injection, and cell indentation with probing from meso- to nanoscale are shown using salmon roe, modeled styren block and a dried yeast cell representing biological applications. A simulation environment was constructed to emulate potential experiments on the subnanoscale. Based on our lab-on-a-tip approach, we expect our proposal to become a multifunctional platform for biomanipulation. We describe an SMMS biomanipulation experiment on the extracellular scale and simulation for potential subcellular applications. Virtual reality (VR) simulation is used in rapid prototype manipulation or assembly models prior to actual biomanipulation experiments and is used as an experimental platform.

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Masmoudi, F. "Optimization of product transfer with constraint in robotic cell using simulation." International Journal of Simulation Modelling 5, no. 3 (September 15, 2006): 89–100. http://dx.doi.org/10.2507/ijsimm05(3)1.063.

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9

Lee, Shyanglin (Sam), Hsu‐Pin (Ben) Wang, and Chao‐Hsien Chu. "Controlling a Robotic Cell by Dynamic Rule Despatching – A Simulation Study." International Journal of Operations & Production Management 10, no. 4 (April 1990): 51–64. http://dx.doi.org/10.1108/01443579010001988.

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10

Ueyama, Tsuyoshi, Toshio Fukuda, and Fumihito Arai. "Evaluation of Communication Structure for Cellular Robotic System." Journal of Robotics and Mechatronics 4, no. 2 (April 20, 1992): 115–21. http://dx.doi.org/10.20965/jrm.1992.p0115.

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This paper deals with an evaluation of the communication architecture for Cellular Robotic System (CEBOT) with plural master cells. The CEBOT consists of a large number of autonomous robotic units called ""cells,"" that is, the system is one of distributed robotic systems. The communication architecture is one of the important issues for distributed intelligent systems. To evaluate the effectiveness of the communication architecture, we use the network energy, which is proposed by us in the previous paper. The issue of the communication architecture for the distributed robotic system is also one of the grouping issues for the group robotic system. In this paper, we consider each master cell as a coordinator in each sub-network, where the sub-network is constructed by a master cell as a core. To evaluate the grouping network, we propose the cross-dependence matrix, which presents the relation between the cells and the task steps depending on a given task. The simulation results presents the grouping examples of the cellular network. According to the simulation results, we also describe the effect for the group structure of community or a society.

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11

Pai, Yun Suen, Hwa Jen Yap, and Ramesh Singh. "Augmented reality–based programming, planning and simulation of a robotic work cell." Proceedings of the Institution of Mechanical Engineers, Part B: Journal of Engineering Manufacture 229, no. 6 (July 2, 2014): 1029–45. http://dx.doi.org/10.1177/0954405414534642.

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12

Burgess, Neil, James G. Donnett, Kathryn J. Jeffery, and John O–keefe. "Robotic and neuronal simulation of the hippocampus and rat navigation." Philosophical Transactions of the Royal Society of London. Series B: Biological Sciences 352, no. 1360 (October 29, 1997): 1535–43. http://dx.doi.org/10.1098/rstb.1997.0140.

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The properties of hippocampal place cells are reviewed, with particular attention to the nature of the internal and external signals that support their firing. A neuronal simulation of the firing of place cells in open–field environments of varying shape is presented. This simulation is coupled with an existing model of how place–cell firing can be used to drive navigation and is tested by implementation as a miniature mobile robot. The sensors on the robot provide visual, odometric and short–range proximity data, which are combined to estimate the distance of the walls of the enclosure from the robot and the robot's current heading direction. These inputs drive the hippocampal simulation, in which the robot's location is represented as the firing of place cells. If a goal location is encountered, learning occurs in connections from the concurrently active place cells to a set of ‘goal cells’, which guide subsequent navigation, allowing the robot to return to an unmarked location. The system shows good agreement with actual place–cell firing, and makes predictions regarding the firing of cells in the subiculum, the effect of blocking long–term synaptic changes, and the locus of search of rats after deformation of their environment.

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13

Kim, Dae-Won, Bum-Hee Lee, and Myoung-Sam Ko. "A Knowledge-Based Approach to Modelling of Robotic Assembly Cells." Robotica 9, no. 1 (January 1991): 31–42. http://dx.doi.org/10.1017/s026357470001554x.

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SUMMARYIn this paper, an approach to modelling of a robotic assembly cell is proposed and a method for managing the cell operation is described using a knowledge base. Since the modelling structure is based on the concept of the state variable, the relationships between states are described by the state transition map (STM). The knowledge-bases for state transition and assembly job information are obtained from the STM and the assembly job tree (AJT), respectively. Using the knowledge-base, the System structure is discussed in relation to both managing the cell operation and evaluating the performances. Finally, a simulation algorithm is presented with the simulation results to show the significance of the proposed modelling approach.

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14

Ivan, Andrei Mario, Florin Adrian Nicolescu, Georgia Cezara Avram, and Adrian Theodor Mantea. "Off-Line Programming and Functioning Simulation of Robotic Flexible Manufacturing Cell for Part's Turning." Applied Mechanics and Materials 760 (May 2015): 213–18. http://dx.doi.org/10.4028/www.scientific.net/amm.760.213.

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This paper presents the works performed by the authors in the field of robotic flexible manufacturing cell offline programming and simulation. The study includes a manufacturing cell structure which includes a part transport system, a CNC lathe / turning centre and an articulated arm type industrial robot. The robot performs the task of loading / unloading the CNC lathe / manufacturing centre and manipulating the parts inside the cell, while the machining operations are performed by the CNC manufacturing centre. After briefly presenting the layout of the cell, the paper focuses on describing the methods used for offline programming and simulation of the tasks performed by the industrial robot. The software package used is ABB RobotStudio. The results of the research work are a process simulation and validation for CNC lathe / machining centre loading / unloading operation and part manipulation performed by the industrial robot and assisted task programming for this application using ABB RobotStudio software. The assisted offline programming and simulation general methods used, as well as the procedures for each stage of the applications are described, in order to illustrate the specific operation for each cell and offline programming aspects.

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15

Drobouchevitch, Inna G., Suresh P. Sethi, and Chelliah Sriskandarajah. "Scheduling dual gripper robotic cell: One-unit cycles." European Journal of Operational Research 171, no. 2 (June 2006): 598–631. http://dx.doi.org/10.1016/j.ejor.2004.09.019.

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16

Fazlollahtabar, Hamed. "Comparative Simulation Study for Configuring Turning Point in Multiple Robot Path Planning: Robust Data Envelopment Analysis." Robotica 38, no. 5 (July 24, 2019): 925–39. http://dx.doi.org/10.1017/s0263574719001164.

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SUMMARYThis paper concerns with comparing simulation studies for a newly developed concept of turning point to be used in multiple robot path planning. Different critical factors and design parameters are collected and statistical analyses are performed. After configuring different simulation scenarios, the efficient one is evaluated using a robust data envelopment analysis (RDEA). Due to uncertain aspects of various simulations scenarios, robust version of data envelopment analysis is proposed. Here, major criteria in robot path planning are deadlock and conflict avoidance, throughput, mean flow time, and effective total distance travelled. To determine the effective experiment for the proposed simulation model, RDEA is used. A comparative study with respect to different experiments having various simulation setting is developed. The results for a real robotic manufacturing cell system show effectiveness of the proposed process. Also, the efficient simulation software is determined by multiaspect analysis.

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Kot, Tomáš, Zdenko Bobovský, Aleš Vysocký, Václav Krys, Jakub Šafařík, and Roman Ružarovský. "Method for Robot Manipulator Joint Wear Reduction by Finding the Optimal Robot Placement in a Robotic Cell." Applied Sciences 11, no. 12 (June 10, 2021): 5398. http://dx.doi.org/10.3390/app11125398.

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We describe a method for robotic cell optimization by changing the placement of the robot manipulator within the cell in applications with a fixed end-point trajectory. The goal is to reduce the overall robot joint wear and to prevent uneven joint wear when one or several joints are stressed more than the other joints. Joint wear is approximated by calculating the integral of the mechanical work of each joint during the whole trajectory, which depends on the joint angular velocity and torque. The method relies on using a dynamic simulation for the evaluation of the torques and velocities in robot joints for individual robot positions. Verification of the method was performed using CoppeliaSim and a laboratory robotic cell with the collaborative robot UR3. The results confirmed that, with proper robot base placement, the overall wear of the joints of a robotic arm could be reduced from 22% to 53% depending on the trajectory.

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Wang, Chuyuan, Linxuan Zhang, and Chongdang Liu. "Adaptive scheduling method for dynamic robotic cell based on pattern classification algorithm." International Journal of Modeling, Simulation, and Scientific Computing 09, no. 05 (October 2018): 1850040. http://dx.doi.org/10.1142/s179396231850040x.

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In order to deal with the dynamic production environment with frequent fluctuation of processing time, robotic cell needs an efficient scheduling strategy which meets the real-time requirements. This paper proposes an adaptive scheduling method based on pattern classification algorithm to guide the online scheduling process. The method obtains the scheduling knowledge of manufacturing system from the production data and establishes an adaptive scheduler, which can adjust the scheduling rules according to the current production status. In the process of establishing scheduler, how to choose essential attributes is the main difficulty. In order to solve the low performance and low efficiency problem of embedded feature selection method, based on the application of Extreme Gradient Boosting model (XGBoost) to obtain the adaptive scheduler, an improved hybrid optimization algorithm which integrates Gini impurity of XGBoost model into Particle Swarm Optimization (PSO) is employed to acquire the optimal subset of features. The results based on simulated robotic cell system show that the proposed PSO-XGBoost algorithm outperforms existing pattern classification algorithms and the newly learned adaptive model can improve the basic dispatching rules. At the same time, it can meet the demand of real-time scheduling.

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Gultekin, Hakan, M. Selim Akturk, and Oya Ekin Karasan. "Scheduling in a three-machine robotic flexible manufacturing cell." Computers & Operations Research 34, no. 8 (August 2007): 2463–77. http://dx.doi.org/10.1016/j.cor.2005.09.015.

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Gultekin, Hakan, M. Selim Akturk, and Oya Ekin Karasan. "Bicriteria robotic operation allocation in a flexible manufacturing cell." Computers & Operations Research 37, no. 4 (April 2010): 779–89. http://dx.doi.org/10.1016/j.cor.2009.06.025.

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21

Villanueva, Emanuel Martinez, Harshavardhan Mamledesai, Pablo Martinez, Peyman Poostchi, and Rafiq Ahmad. "Design and simulation of an automated robotic machining cell for cross-laminated timber panels." Procedia CIRP 100 (2021): 175–80. http://dx.doi.org/10.1016/j.procir.2021.05.026.

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22

Zhou, Bing-hai, and Ming Li. "Scheduling method of robotic cells with machine–robot process and time window constraints." Proceedings of the Institution of Mechanical Engineers, Part E: Journal of Process Mechanical Engineering 232, no. 6 (September 27, 2017): 650–61. http://dx.doi.org/10.1177/0954408917733850.

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Robotic cells are widely used in the fields of incorporate automation and repetitive processing. Throughput analysis and scheduling of robotic cells with machine process have been well studied, while research work on robotic cells with machine–robot process in which robots concurrently perform collaborated tasks in addition to part transportation is still at an early stage. After defining the concepts of internal and external time window constraints, we propose a robotic cell scheduling problem with machine process and machine–robot process simultaneously, when processing time window is an essential constraint. According to the constraints in real engineering practice, a mathematic model of single-gripper robotic cells is established to minimize the average manufacturing cycle time. A shifting bottleneck searching algorithm is proposed based on the basis of analyses. In addition, a lower bound for the average manufacturing cycle time is established. Finally, through extensive simulation experiments, the numerical and experimental results demonstrate that the shifting bottleneck searching provides optimal or near optimal solutions.

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Juhás, Martin, and Bohuslava Juhásová. "Synchronization of Heterogeneous Multi-Robotic Cell with Emphasis on Low Computing Power." Applied Sciences 10, no. 15 (July 27, 2020): 5165. http://dx.doi.org/10.3390/app10155165.

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This paper presents a time-synchronization solution for operations performed by a heterogeneous set of robotic manipulators grouped into a production cell. The cell control is realized using master–slave architecture without an external control element. Information transmission in a cell is provided by a TCP/IP channel in which communication is ensured via sockets. The proposed problem solution includes an algorithm, which is verified and validated by simulation and tested in real environment. This algorithm requires minimal computational power thanks to an empirically oriented approach, which enables its processing directly by the control unit of each participating element of the robotic cell. The algorithm works on the basis of monitoring and evaluating time differences among sub-operations of master and slave devices. This ensures defined production cycle milestones of each robotic manipulator in the cell at the same time are attained. Dynamic speed adaptation of slave manipulators utilizing standard instructions of their native language is used. The proposed algorithm also includes a feedforward form of operations synchronization which responds to changes in the operating cycle of the master manipulator. The application of the solution proposal is supplemented with a visualization part. This part represents a complementary form of designed solution implementation.

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Semjon, Ján, Mikuláš Hajduk, Rudolf Jánoš, and Marek Vagaš. "Modular Welding Fixtures for Robotic Cells." Applied Mechanics and Materials 309 (February 2013): 80–87. http://dx.doi.org/10.4028/www.scientific.net/amm.309.80.

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This paper describes the proposal of welding fixtures which achieves pre-arrangement of individual parts of fixture based on suitable modules. Also is focused on methodological process of their design using modularity principle and reconfigurability. Describe procedure of designing fixture with emphasis to specific requirements for welding fixtures in robotic welding. Take advantages of simple substitution of individual modules welding fixtures by database compatible with modules in 3D environment. Optimization and control of collision status is realized in simulation environment ABB Robot Studio.

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Ochs, Jelena, Ferdinand Biermann, Tobias Piotrowski, Frederik Erkens, Bastian Nießing, Laura Herbst, Niels König, and Robert H. Schmitt. "Fully Automated Cultivation of Adipose-Derived Stem Cells in the StemCellDiscovery—A Robotic Laboratory for Small-Scale, High-Throughput Cell Production Including Deep Learning-Based Confluence Estimation." Processes 9, no. 4 (March 25, 2021): 575. http://dx.doi.org/10.3390/pr9040575.

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Laboratory automation is a key driver in biotechnology and an enabler for powerful new technologies and applications. In particular, in the field of personalized therapies, automation in research and production is a prerequisite for achieving cost efficiency and broad availability of tailored treatments. For this reason, we present the StemCellDiscovery, a fully automated robotic laboratory for the cultivation of human mesenchymal stem cells (hMSCs) in small scale and in parallel. While the system can handle different kinds of adherent cells, here, we focus on the cultivation of adipose-derived hMSCs. The StemCellDiscovery provides an in-line visual quality control for automated confluence estimation, which is realized by combining high-speed microscopy with deep learning-based image processing. We demonstrate the feasibility of the algorithm to detect hMSCs in culture at different densities and calculate confluences based on the resulting image. Furthermore, we show that the StemCellDiscovery is capable of expanding adipose-derived hMSCs in a fully automated manner using the confluence estimation algorithm. In order to estimate the system capacity under high-throughput conditions, we modeled the production environment in a simulation software. The simulations of the production process indicate that the robotic laboratory is capable of handling more than 95 cell culture plates per day.

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Lämmle, Arik, Carsen Seeber, and Elena Kogan. "Automatic simulation model implementation of robotic production cells in a 3D manufacturing simulation environment." Procedia CIRP 91 (2020): 336–41. http://dx.doi.org/10.1016/j.procir.2020.02.185.

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Cash, Charles R., and Wilbert E. Wilhelm. "A simulation model for use in designing robotic assembly cells." Journal of Manufacturing Systems 7, no. 4 (January 1988): 279–91. http://dx.doi.org/10.1016/0278-6125(88)90039-8.

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Ribeiro, Filipe Monteiro, J. Norberto Pires, and Amin S. Azar. "Implementation of a robot control architecture for additive manufacturing applications." Industrial Robot: the international journal of robotics research and application 46, no. 1 (January 21, 2019): 73–82. http://dx.doi.org/10.1108/ir-11-2018-0226.

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Purpose Additive manufacturing (AM) technologies have recently turned into a mainstream production method in many industries. The adoption of new manufacturing scenarios led to the necessity of cross-disciplinary developments by combining several fields such as materials, robotics and computer programming. This paper aims to describe an innovative solution for implementing robotic simulation for AM experiments using a robot cell, which is controlled through a system control application (SCA). Design/methodology/approach For this purpose, the emulation of the AM tasks was executed by creating a robot working station in RoboDK software, which is responsible for the automatic administration of additive tasks. This is done by interpreting gcode from the Slic3r software environment. Posteriorly, all the SCA and relevant graphical user interface (GUI) were developed in Python to control the AM tasks from the RoboDK software environment. As an extra feature, Slic3r was embedded in the SCA to enable the generation of gcode automatically, without using the original user interface of the software. To sum up, this paper adds a new insight in the field of AM as it demonstrates the possibility of simulating and controlling AM tasks into a robot station. Findings The purpose of this paper is to contribute to the AM field by introducing and implementing an SCA capable of executing/simulating robotic AM tasks. It also shows how an advanced user can integrate advanced simulation technologies with a real AM system, creating in this way a powerful system for R&D and operational manufacturing tasks. As demonstrated, the creation of the AM environment was only possible by using the RoboDk software that allows the creation of a robot working station and its main operations. Originality/value Although the AM simulation was satisfactory, it was necessary to develop an SCA capable of controlling the whole simulation through simple commands instructed by users. As described in this work, the development of SCA was entirely implemented in Python by using official libraries. The solution was presented in the form of an application capable of controlling the AM operation through a server/client socket connection. In summary, a system architecture that is capable of controlling an AM simulation was presented. Moreover, implementation of commands in a simple GUI was shown as a step forward in implementation of modern AM process controls.

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Zhu, Carlos Ye, J. Norberto Pires, and Amin Azar. "A novel multi-brand robotic software interface for industrial additive manufacturing cells." Industrial Robot: the international journal of robotics research and application 47, no. 4 (April 13, 2020): 581–92. http://dx.doi.org/10.1108/ir-11-2019-0237.

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Purpose This study aims to report the development of a provisional robotic cell for additive manufacturing (AM) of metallic parts. To this end, the paper discusses cross-disciplinary concepts related to the development of the robotic cell and the associated command and control system such as the Computer-Aided Design (CAD) interface, the slicing software and the path planning for the robot manipulator toward printing the selected workpiece. This study also reports the development of a virtual production cell that simulates the AM toolpath generated for the desired workpiece, the adaptation of the simulation environments to enable AM and the development of a user application to setup, command and control the AM processes. If a digital twin setup is efficiently built, with a good correlation between the simulation environment and the real systems, developers may explore this functionality to significantly reduce the development cycle, which can be very long in AM applications where metallurgic properties, part distortion and other properties need to be monitored and controlled. Design/methodology/approach To generate the robot manipulator path, several simulation programs were considered, resulting in different solutions to program and control the robot of choice [in this study, Kuka and Asea Brown Boveri (ABB) robots were considered]. By integrating the solutions from Slic3r, Inventor, Kuka.Sim, Kuka.Officelite, RobotStudio and Visual Studio software packages, this study aims to develop a functional simulation system capable of producing a given workpiece. For this purpose, a graphical user interface (GUI) was designed to provide the user with a higher level of control over the entire process toward simplifying the programming and implementation events. Findings The presented solutions are compatible with the simulation environments of specific robot manufacturers, namely, ABB and Kuka, meaning that the authors aim to align the developments with most of the currently realized AM processing cells. In the long-term, the authors aim to build an AM system that implements a produce-from-CAD strategy i.e. that can be commanded directly from the CAD package used to design the part the authors are interested in. Research limitations/implications This study attempts to shed light on the industrial AM, a field that is being constantly evolved. Arguably, one of the most important aspects of an AM system is path planning for the AM operation, which must be independent of the robotic system used. This study depicts a generic implementation that can be used with several robot control systems. The paper demonstrates the principle with ABB and Kuka robots, exploiting in detail simulation environments that can be used to create digital twins of the real AM systems. This is very important in actual industrial setups, as a good correlation between the digital twins (simulation environment and real system) will enable developers to explore the AM system in not only a more efficient manner, greatly reducing the development cycle but also as a way to fully develop new solutions without stopping the real setup. In this research, a systematic review of robot systems through simulation environments was presented, aiming to emulate the logic that is, used in the production cell development, disregarding the system brand. The adopted digital twin strategy enables the authors to fully simulate, both operationally and functionality, the real AM system. For this purpose, different solutions were explored using robots from two different manufacturers and related simulation environments, illustrating a generic solution that is not bound to a certain brand. Practical implications Using specific programming tools, fully functional virtual production cells were conceived that can receive the instructions for the movements of the robot, using a transmission control protocol/internet protocol. Conversion of the CAD information into the robot path instructions for the robot was the main research question in this study. With the different simulation systems, a program that translates the CAD data into an acceptable format brings the robot closer to the automatic path planning based on CAD data. Both ABB and Kuka systems can access the CAD data, converting it to the correct robot instructions that are executed. Eventually, a functional and intuitive GUI application capable of commanding the simulation for the execution of the AM was implemented. The user can set the desired object and run a completely automatic AM process through the designated GUI. Comparing ABB simulation with the Kuka system, an important distinction can be found, namely, in the exportation of the programs. As the Kuka program runs with add-ons, the solution will not be exported while maintaining its functionality, whereas the ABB program can be integrated with a real controller because it is completely integrated with modules of the virtual controller. Originality/value To conclude, with the solutions exploited, this study reports a step forward into the development of a fully functional generic AM cell. The final objective is to implement an AM system that is, independent of any robot manufacturer brand and uses a produce-from-CAD strategy (c.f. digital manufacturing). In other words, the authors presented a system that is fully automatic, can be explored from a CAD package and, consequently, can be used by any CAD designer, without specific knowledge of robotics, materials and AM systems.

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Luo, Zirong, Jianzhong Shang, Guowu Wei, and Lei Ren. "Design and analysis of a bio-inspired module-based robotic arm." Mechanical Sciences 7, no. 2 (August 12, 2016): 155–66. http://dx.doi.org/10.5194/ms-7-155-2016.

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Abstract. This paper presents a novel bio-inspired modular robotic arm that is purely evolved and developed from a mechanical stem cell. Inspired by stem cell whilst different from the other robot "cell" or "molecule", a fundamental mechanical stem cell is proposed leading to the development of mechanical cells, bones and a Sarrus-linkage-based muscle. Using the proposed bones and muscles, a bio-inspired modular-based five-degrees-of-freedom robotic arm is developed. Then, kinematics of the robotic arm is investigated which is associated with an optimization-method-based numerical iterative algorithm leading to the inverse kinematic solutions through solving the non-linear transcendental equations. Subsequently, numerical example of the proposed robotic arm is provided with simulations illustrating the workspace and inverse kinematics of the arm. Further, a prototype of the robotic arm is developed which is integrated with low-level control systems, and initial motion and manipulation tests are implemented. The results indicate that this novel robotic arm functions appropriately and has the virtues of lower cost, larger workspace, and a simpler structure with more compact size.

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Soukhal, A., and P. Martineau. "Resolution of a scheduling problem in a flowshop robotic cell." European Journal of Operational Research 161, no. 1 (February 2005): 62–72. http://dx.doi.org/10.1016/j.ejor.2003.08.028.

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Vaisi, Bahareh, Hiwa Farughi, and Sadigh Raissi. "Schedule-Allocate and Robust Sequencing in Three-Machine Robotic Cell under Breakdowns." Mathematical Problems in Engineering 2020 (October 30, 2020): 1–24. http://dx.doi.org/10.1155/2020/4597827.

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The purpose of this paper is to model two problems comprising schedule-allocate (in case of producing identical parts) and sequencing of parts (in case of producing different parts). The first model is used for minimizing the cycle time and operational cost, and the second one for minimizing both the mean and standard deviation of the total production cost as well the cycle time, in an unreliable three-machine robotic cell which confronted with many uncertainty factors. In the current article, mathematical modelling and simulation-based optimization method have been presented to schedule-allocate similar parts and trace the optimal sequence of different parts. Several solution procedures, including epsilon-constraint method and multiobjective particle swarm optimization algorithm, for identical parts case and response surface methodology for different parts case are applied. The results derived from solving numerical examples revealed some advantages in terms of time to attain the optimal solution.

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Cunha de Aguiar, Adriano José, Emília Villani, and Fabrício Junqueira. "Coloured Petri nets and graphical simulation for the validation of a robotic cell in aircraft industry." Robotics and Computer-Integrated Manufacturing 27, no. 5 (October 2011): 929–41. http://dx.doi.org/10.1016/j.rcim.2011.03.005.

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Gultekin, Hakan, M. Selim Akturk, and Oya Ekin Karasan. "Cyclic scheduling of a 2-machine robotic cell with tooling constraints." European Journal of Operational Research 174, no. 2 (October 2006): 777–96. http://dx.doi.org/10.1016/j.ejor.2005.03.021.

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Allaq, Aiman Al, Nebojsa Jaksic, Hussein Ali Al-Amili, and Dhuha Mohammed Mahmood. "The The Application of Virtual Reality to (Mechatronics Engineering) by Creating an Articulated Robotic Work Cell Using EON Reality V9.22.24.24477." Al-Khwarizmi Engineering Journal 17, no. 2 (June 1, 2021): 18–30. http://dx.doi.org/10.22153/kej.2021.04.001.

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Virtual reality, VR, offers many benefits to technical education, including the delivery of information through multiple active channels, the addressing of different learning styles, and experiential-based learning. This paper presents work performed by the authors to apply VR to engineering education, in three broad project areas: virtual robotic learning, virtual mechatronics laboratory, and a virtual manufacturing platform. The first area provides guided exploration of domains otherwise inaccessible, such as the robotic cell components, robotic kinematics and work envelope. The second promotes mechatronics learning and guidance for new mechatronics engineers when dealing with robots in a safe and interactive manner. And the third provides valuable guidance for industry and robotic based manufacturing, allowing a better view and simulating conditions otherwise inaccessible.

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Elmi, Atabak, and Seyda Topaloglu. "Multi-degree cyclic flow shop robotic cell scheduling problem: Ant colony optimization." Computers & Operations Research 73 (September 2016): 67–83. http://dx.doi.org/10.1016/j.cor.2016.03.007.

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Zeghloul, S., B. Blanchard, and M. Ayrault. "SMAR: A Robot Modeling and Simulation System." Robotica 15, no. 1 (January 1997): 63–73. http://dx.doi.org/10.1017/s0263574797000088.

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In this paper we present the SMAR CAD-robotics system (Système de Modélisation et d'Animation de Robots), which we developed at the University of Poitiers. This system allows its user to deal with a great number of robotics problems through the use of a graphic simulator. We will discuss the different parts which form the SMAR system. This includes the following:—The modeler which allows the user to build a database, describing the robot and its environment. The database generated by the system is composed of the geometric description of the objects and the kinematics description of the environment.—The simulator and the coordinates reverser, which simulate the robot's movements.—The collision detection algorithms used to verify task accomplishment.—A calculation algorithm in order to find optimal placement, which determines the relative position robot/task, allowing the robot to efficiently execute the assigned task.—The collision free-path planning algorithm allowing the system to generate trajectories in a cluttered environment.An example dealing with a complex robotized cell will also be presented in order to demonstrate the capabilities of the system.

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Abd. "DEVELOPMENT OF A FUZZY-SIMULATION MODEL OF SCHEDULING ROBOTIC FLEXIBLE ASSEMBLY CELLS." Journal of Computer Science 9, no. 12 (December 1, 2013): 1761–68. http://dx.doi.org/10.3844/jcssp.2013.1761.1768.

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Abd. "APPLICATION OF A FUZZY-SIMULATION MODEL OF SCHEDULING ROBOTIC FLEXIBLE ASSEMBLY CELLS." Journal of Computer Science 9, no. 12 (December 1, 2013): 1769–77. http://dx.doi.org/10.3844/jcssp.2013.1769.1777.

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Gultekin, Hakan, Oya Ekin Karasan, and M. Selim Akturk. "Pure cycles in flexible robotic cells." Computers & Operations Research 36, no. 2 (February 2009): 329–43. http://dx.doi.org/10.1016/j.cor.2007.10.007.

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Orady, Elsayed A., T. A. Osman, and Clark P. Bailo. "Capability study of robotics and manufacturing cell simulation software." Computers & Industrial Engineering 33, no. 1-2 (October 1997): 83–86. http://dx.doi.org/10.1016/s0360-8352(97)00046-6.

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Orady, Elsayed A., T. A. Osman, and Clark P. Bailo. "Virtual reality software for robotics and manufacturing cell simulation." Computers & Industrial Engineering 33, no. 1-2 (October 1997): 87–90. http://dx.doi.org/10.1016/s0360-8352(97)00047-8.

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Rónai, László, and Tamás Szabó. "Modeling and robotic handling of a snap-fitting box buckle." Pollack Periodica 15, no. 2 (August 2020): 94–105. http://dx.doi.org/10.1556/606.2020.15.2.9.

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Abstract:Modeling and robotic handling of a plastic box buckle is discussed in this paper. The closing mechanism of the box buckle is simulated to determine the characteristic of the nonlinear load-deflection curve. An intelligent end-effector was designed and manufactured to handle the assembly with a robot. The closing force is measured by a built-in load cell and its values are processed by a micro-controller. The intelligent end-effector can be used in a robotic system, which deals with different snap-fit applications.

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Subrin, Kévin, Laurent Sabourin, Franck Stephan, Grigoré Gogu, Matthieu Alric, and Youcef Mezouar. "Analysis of the human arm gesture for optimizing cutting process in ham deboning with a redundant robotic cell." Industrial Robot: An International Journal 41, no. 2 (March 11, 2014): 190–202. http://dx.doi.org/10.1108/ir-04-2013-346.

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Purpose – The mechanization of the meat cutting companies has become essential due to the lack of skilled workers and to working conditions. This paper deals with the analysis of human gestures in order to improve the performance of a redundant robotic cell. The aim is to define optimization criteria linked to the process and the human gesture analysis to improve the cutting process with a redundant robotic cell. Design/methodology/approach – This paper deals with an optimized path planning of complex tasks based on the human arm analysis. The first part details the operator's manual work. The robotized cutting strategy using bones as a guide associated with an industrial force control leads to the tasks redefinition. Thus, the analysis of the arm during the tasks is presented. With a robotic model, the authors evaluate the relevance of two criteria (kinematic and mechanical) that the operator naturally manages. These criteria are used to improve the robotized cutting process by using redundancy. Simulation work and experimentation are presented to show the enhanced performance. Findings – The paper explains how to define optimization criteria based on human arm analysis to realize cutting operations which require force or dexterity performance. It presents a study on the criteria weighting on a robotic arm model established through human arm analysis. The optimized cutting process clearly shows improvement. Research limitations/implications – The scalability of the ham implied the definition of iterative trajectories to follow the curvature of the bone. Due to the use of an industrial force control, no online optimization can be achieved. The off-line optimization implies that the boundary of the trajectory space is technically feasible. Nevertheless, more information has to be extracted from the deboning process such as vision data in order to improve cutting quality. Practical implications – This study was carried out within the framework of several national and European projects (FUI SRDViand, ANR ARMS, FP7 Echord Dexdeb) in collaboration with ADIV (Meat Institute Development Agency). The redundant robotic cell was developed and implemented at ADIV and used for feasibility studies in connection with SME/SMI French sector. Originality/value – The paper deals with the cutting of soft bodies such as meat and complex human gesture analysis, which constitute an innovative challenge for the coming years in order to help or replace humans in industrial meat companies with difficult working conditions.

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Che, Ada, and Chengbin Chu. "Multi-degree cyclic scheduling of a no-wait robotic cell with multiple robots." European Journal of Operational Research 199, no. 1 (November 2009): 77–88. http://dx.doi.org/10.1016/j.ejor.2008.10.035.

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Laemmle, Arik, and Stefan Gust. "Automatic layout generation of robotic production cells in a 3D manufacturing simulation environment." Procedia CIRP 84 (2019): 316–21. http://dx.doi.org/10.1016/j.procir.2019.04.207.

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Yan, Pengyu, Shi Qiang Liu, Tengfei Sun, and Kaiyuan Ma. "A dynamic scheduling approach for optimizing the material handling operations in a robotic cell." Computers & Operations Research 99 (November 2018): 166–77. http://dx.doi.org/10.1016/j.cor.2018.05.009.

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Abreu, Paulo, Manuel Romano Barbosa, and António Mendes Lopes. "Experiments with a Virtual Lab for Industrial Robots Programming." International Journal of Online Engineering (iJOE) 11, no. 5 (September 24, 2015): 10. http://dx.doi.org/10.3991/ijoe.v11i5.4752.

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This paper presents the use of a virtual lab for teaching industrial robots programming to university students. The virtual lab, that replicates the existing physical lab, is built using an industrial simulation software package, RobotStudio™. The capabilities of this tool are explored in order to complement the introduction of theoretical concepts with practical programming experience. In addition to illustrate the use of different coordinate systems in a robotic cell, a description of the tool center point calibration and examples of evaluating different moving strategies to cover a plane surface, are also presented.

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Wang, Xinran, Hailin Ren, Anil Kumar, and Pinhas Ben-Tzvi. "Design and Analysis of a Variable Inertia Spatial Robotic Tail for Dynamic Stabilization." Biomimetics 5, no. 4 (October 25, 2020): 55. http://dx.doi.org/10.3390/biomimetics5040055.

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This paper presents the design of a four degree-of-freedom (DoF) spatial tail and demonstrates the dynamic stabilization of a bipedal robotic platform through a hardware-in-loop simulation. The proposed tail design features three active revolute joints with an active prismatic joint, the latter of which provides a variable moment of inertia. Real-time experimental results validate the derived mathematical model when compared to simulated reactive moment results, both obtained while executing a pre-determined trajectory. A 4-DoF tail prototype was constructed and the tail dynamics, in terms of reactive force and moments, were validated using a 6-axis load cell. The paper also presents a case study where a zero moment point (ZMP) placement-based trajectory planner, along with a model-based controller, was developed in order for the tail to stabilize a simulated unstable biped robot. The case study also demonstrates the capability of the motion planner and controller in reducing the system’s kinetic energy during periods of instability by maintaining ZMP within the support polygon of the host biped robot. Both experimental and simulation results show an improvement in the tail-generated reactive moments for robot stabilization through the inclusion of prismatic motion while executing complex trajectories.

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Abd, Khalid, Kazem Abhary, and Romeo Marian. "Simulation modelling and analysis of scheduling in robotic flexible assembly cells using Taguchi method." International Journal of Production Research 52, no. 9 (December 9, 2013): 2654–66. http://dx.doi.org/10.1080/00207543.2013.867082.

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