SCHOOL OF ENGINEERING RobotStudio Assessment 201617 MNFG 409: INDUSTRIAL ROBOTICS AND AUTOMATED ASSEMBLY (20% of Final Module Mark) Introductory Notes: In this RobotStudio assessment you will program an industrial manipulator to guide a simulated glue dispenser around the edges of an injection moulded component. The specific details of the task are outlined below. You must use the IRB140 robot and the MTD positioner found in the RobotStudio Library . The CAD that describes the pen tool is also provided on VITAL, as is an STL file of the injection moulded component. A link to videos showing some of the tasks being set up on the IRB1600 and IRB140 robots is provided but these do not cover the whole task you have been set and the robot cell is NOT correctly defined in the video. You must read the task below to define exactly what you must do. Task: You have been asked to set up a task on the white ABB140 robot cell in the School of Engineering, however, the robot is, at the moment, in constant use on other work and so the set up must be completed in simulation rather than on the machine. The white ABB140 robot cell also includes an ABB 250Kg MTD Positioner that you will need to carry out the task. It is mounted below the removable wooden table top. You are also asked to incorporate the pneumatic grippers used on the orange ABB140, also in the same room. In your model the grippers should be functional, able to pickup and put down the pen. You will also need to place a holder for the pen on a suitable place on the table. You will be required to program the robot to deposit a continuous bead of sealant around the edges of an injection moulded component (see Figure 1). The simulated sealant gun (the pen tool) must start in the pen holder on the cell table and must return there after the application has finished. When moving between operations the robot speed can be unregulated but when approaching the component or the pen holder the maximum speed should be 600mm/s. While applying the sealant the speed must be a maximum of 500mm/s. The sealant gun must be introduced to the polymer part in a direction approximately perpendicular to the edge chamfers and at an approximate angle of 60 degrees to the horizontal (see Figure 2). The TCP must maintain constant speed in one direction around the work object for each track. When navigating the work object it is important to maintain a smooth and constant speed of the Tool Centre Point (TCP). If you struggle to maintain a correct path your gun may be moved away from the work object, re orientated, and then returned back to the exit point. It is important for safety that the cell created in RobotStudio recreates all the important features of the actual cell. eg table, walls, gates pedestals etc, so that collisions and obstructions can be avoided. The plastic component should be placed on the MTD positioner. The system should be designed to start from a safe place, approach and pick up the tool, move to the part, apply the sealant to the required parts before returning the tool to the holder and returning back to a safe place before stopping. The tool must be picked up and replaced in the holder as required. The submission for this work is the workstation created in RobotStudio saved using the Pack and Go facility. Anyone submitting their work in any other format will lose 10% of the marks and will be asked to resubmit the file again. If the file is again submitted in the wrong format all marks will be lost as it is only possible to mark a system saved with Pack & Go. 18/02/17 1 of2 18/02/17 2 of2 Figure 1: Injection moulded component showing edges that require sealant to be deposited Figure 2 Angle of sealant gun