Experimentbaserad analys av gripdon och komponenter vid kitting och drönartillverkning i Chalmers SII- Lab
Typ
Examensarbete på grundnivå
Program
Publicerad
2020
Författare
Kåreby, Markus
Lai, Kevin
Modellbyggare
Tidskriftstitel
ISSN
Volymtitel
Utgivare
Sammanfattning
Industry 4.0 is the future for competitive companies in the manufacturing industry. It is becoming increasingly important for companies to become more flexible and streamline the degree of automation in processes in the manufacturing industry, due to the ever-growing need of companies to customize their services and products for individual customers. The manufacturing industry consists of several different processes, one of which is Kitting. Kitting is a process which functions as preparatory work for assembly processes. Automation within Kitting is not currently present in this industry. One of the underlying reasons why is the complex conditions, such as the information handling within Bin-picking causes difficulties for robotic systems to develop methods for picking from boxes. This report examines whether or not there is a connection between grippers and objects when picking the drone components made by SII-Lab. A market survey was conducted to gain an understanding of situations the different types of grippers are adapted to and in what ways they differ from each other. The geometric properties of the drone components have been analyzed and how the picking requirements can be affected by these. A starting point for these characteristics was to develop the resting positions of each drone component, in order to investigate situations that arise during picking. An experimental plan was developed to effectively examine the performance of the grippers based on three different measurement points, pick ability, speed and quality. The analysis provided a deeper understanding of how the geometries of the picking objects affect the picking ability of different grippers. A finger gripper designed based on individual objects shapes would affect the picking process positively, but no finger grippers have been constructed in this project. The orientation of objects in various resting positions can affect the picking ability of the grippers. Further research should include a vision system and studies on more unique situations that may arise in Bin-picking such as objects lying in piles or standing up/leaning against a wall. This report can be used as a basis for future projects.
Beskrivning
Ämne/nyckelord
Industri 4.0, Robot Grippers, Kitting, Drönarkomponenter, Bin-picking , Geometriska former, Vilolägen, Gripdon