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Human-robot interactive parts-cart for automotive manufacturing : a final recommendation report Kutarna, Matthew; Reitmeier, Craig; Robson, Cody
Abstract
The robotic/human interactive parts-cart was designed and built as a proof of concept test bed for the CARIS Lab with application to the automotive industry. The purpose is to design a parts-cart capable of testing and demonstrating the effective and efficient handling of parts by a robotic arm or human. While few solutions exist, they are expensive and require an overhaul of production processes in the automotive industry. The scope of this project is limited to the design and fabrication of the parts-cart, while keeping in mind design requirements set forth by the robotic arm (WAM) and general safety for humans. The project design requirements are such that the fully configurable parts-cart must be capable of mounting a robotic arm for accessing parts in bins or pallets. The bins must be strong enough to hold 20 LBS worth of various parts, and pallets must be simple and easy to maneuver by the robot. The structure of the cart was chosen to be made of CreForm piping and joints, as they offer high structural integrity and simple configurability. After the cart was built, several testing methods were used to determine the success of the objectives: Human/Robotic Accessibility, Configurability, Deflection Tests, Vibration Tests, and Maneuverability Tests. While accessibility and maneuverability tests are qualitative in nature, they successfully provide proof that the design choices are the correct ones. The Maneuverability Test showed that the cart was able to handle extreme cases where the cart was required to go over large bumps or turn on extreme angles. The cart was also noted to be easily customizable with regards to bin and pallet sizes, and even overall dimension sizes. Since the cart was required to fit through doorways, CreForm piping made it easy to alter the overall width. The Deflection and Vibration Tests offered quantitative results for the parts-cart. Weight was applied to key stress points, and the maximum deflection was measured in the vertical and axial directions separately. It was determined that even with as much weight as 95 lbs; the vertical deflection was only 4 mm. The axial deflection, however, was noted to be much larger (5 cm) due to the lack of structural support between the bin shelving and robotic arm mount. Vibration tests were also applied in SolidWorks and determined to be minimal for the small forces expected for the cart. In a 0.5 kN test with vibrations at resonance, the largest transverse axis deflection was 20 cm. In conclusion, the parts-cart, designed and built, follows all project objectives accordingly. Overall, the design is effective and meets the design requirements for both human and robotic control. It is capable of being maneuvered by humans and robotics and can traverse ground obstacles that are 2” (no more than 3”) and under. It is recommended that an I-beam support structure and aluminum (or metal) plate be added to the base of the cart to handle the axial deflection under load. It is also recommended that the length of the cart be shortened for the purposes of its applications in the CARIS Lab.
Item Metadata
| Title |
Human-robot interactive parts-cart for automotive manufacturing : a final recommendation report
|
| Creator | |
| Date Issued |
2012-03
|
| Description |
The
robotic/human
interactive
parts-cart
was
designed
and
built
as
a
proof
of
concept
test
bed
for
the
CARIS
Lab
with
application
to
the
automotive
industry.
The
purpose
is
to
design
a
parts-cart
capable
of
testing
and
demonstrating
the
effective
and
efficient
handling
of
parts
by
a
robotic
arm
or
human.
While
few
solutions
exist,
they
are
expensive
and
require
an
overhaul
of
production
processes
in
the
automotive
industry.
The
scope
of
this
project
is
limited
to
the
design
and
fabrication
of
the
parts-cart,
while
keeping
in
mind
design
requirements
set
forth
by
the
robotic
arm
(WAM)
and
general
safety
for
humans.
The
project
design
requirements
are
such
that
the
fully
configurable
parts-cart
must
be
capable
of
mounting
a
robotic
arm
for
accessing
parts
in
bins
or
pallets.
The
bins
must
be
strong
enough
to
hold
20
LBS
worth
of
various
parts,
and
pallets
must
be
simple
and
easy
to
maneuver
by
the
robot.
The
structure
of
the
cart
was
chosen
to
be
made
of
CreForm
piping
and
joints,
as
they
offer
high
structural
integrity
and
simple
configurability.
After
the
cart
was
built,
several
testing
methods
were
used
to
determine
the
success
of
the
objectives:
Human/Robotic
Accessibility,
Configurability,
Deflection
Tests,
Vibration
Tests,
and
Maneuverability
Tests.
While
accessibility
and
maneuverability
tests
are
qualitative
in
nature,
they
successfully
provide
proof
that
the
design
choices
are
the
correct
ones.
The
Maneuverability
Test
showed
that
the
cart
was
able
to
handle
extreme
cases
where
the
cart
was
required
to
go
over
large
bumps
or
turn
on
extreme
angles.
The
cart
was
also
noted
to
be
easily
customizable
with
regards
to
bin
and
pallet
sizes,
and
even
overall
dimension
sizes.
Since
the
cart
was
required
to
fit
through
doorways,
CreForm
piping
made
it
easy
to
alter
the
overall
width.
The
Deflection
and
Vibration
Tests
offered
quantitative
results
for
the
parts-cart.
Weight
was
applied
to
key
stress
points,
and
the
maximum
deflection
was
measured
in
the
vertical
and
axial
directions
separately.
It
was
determined
that
even
with
as
much
weight
as
95
lbs;
the
vertical
deflection
was
only
4
mm.
The
axial
deflection,
however,
was
noted
to
be
much
larger
(5
cm)
due
to
the
lack
of
structural
support
between
the
bin
shelving
and
robotic
arm
mount.
Vibration
tests were
also
applied
in
SolidWorks
and
determined
to
be
minimal
for
the
small
forces
expected
for
the
cart.
In
a
0.5
kN
test
with
vibrations
at
resonance,
the
largest
transverse
axis
deflection
was
20
cm.
In
conclusion,
the
parts-cart,
designed
and
built,
follows
all
project
objectives
accordingly.
Overall,
the
design
is
effective
and
meets
the
design
requirements
for
both
human
and
robotic
control.
It
is
capable
of
being
maneuvered
by
humans
and
robotics
and
can
traverse
ground
obstacles
that
are
2”
(no
more
than
3”)
and
under.
It
is
recommended
that
an
I-beam
support
structure
and
aluminum
(or
metal)
plate
be
added
to
the
base
of
the
cart
to
handle
the
axial
deflection
under
load.
It
is
also
recommended
that
the
length
of
the
cart
be
shortened
for
the
purposes
of
its
applications
in
the
CARIS
Lab.
|
| Genre | |
| Type | |
| Language |
eng
|
| Series | |
| Date Available |
2013-11-28
|
| Provider |
Vancouver : University of British Columbia Library
|
| Rights |
Attribution-NonCommercial-NoDerivatives 4.0 International
|
| DOI |
10.14288/1.0074494
|
| URI | |
| Affiliation | |
| Campus | |
| Peer Review Status |
Unreviewed
|
| Scholarly Level |
Undergraduate
|
| Rights URI | |
| Aggregated Source Repository |
DSpace
|
Item Media
Item Citations and Data
Rights
Attribution-NonCommercial-NoDerivatives 4.0 International