FEASABILITY STUDY FOR ROBOTIC HANDLING OF PROTECTIVE SHIMS AT CONDUCTOR CAROUSEL: Bachelor Degree Project in Automation Engineering
Independent thesis Basic level (university diploma), 20 credits / 30 HE creditsStudent thesis
This report provides a Feasibility study on automating the handling of shims that protect the cable conductor from being damaged. The shims also help keeping the conductor on the inside of the carousel. The methods of the project includes: A Technological-, Economic-, Legal-, Operational- and Schedule Feasibility Study A RobotStudio offline simulation utilized for positioning an ABB robot and testing that its control program is made in accordance with required safety, reliability, and speed. An analysis of robotic tools and sensors required for the task A cost and payback analysis The approach is to create a simulation where an IRB6650S ABB robot is used for placing shims onto the conductor carousel. Eventually the robot is supposed to remove shims from the carousel, as the conductor is taken up for extrusion of plastic isolation. The pallets of shims are to be placed on an existing table lift that can elevate or be lowered vertically according to cable growth or decrease. This is so that the robot motion and cycle time can be minimized and shim handling speed increased. The robot makes a “searching motion” which gives the height coordinate as the gripper collides with a shim or cable at the carousel. This coordinate is further used to estimate the height of the cable at the carousel and the height of the shim-stack at the palette. The table lift elevates or lowers according to the height that is provided from the “search motion”. A separation magazine, which is placed on the table lift, stores a set of pre-separated shims for one layer of cable conductor at the carousel. This is to avoid separating shims during the handling period and to speed up the shim handling. During the up taking of the conductor and as the shims are supposed to be picked off from the carousel, the robot uses the angular positions of already placed shims that are saved during the placing process, in order to find the shims at the carousel. The vacuum gripper consists of two foam-gripper systems, which are connected with aluminum profiles. The foam can be formed according to the grooves of the shim and enclose the surface in order to create vacuum and to grip the shim. The gripper is equipped with two collision sensors at each foamgripper that indicate when it is time to apply vacuum or when to release it. It was found that the robot is able to handle shims 42% faster than the manual workers are. The initial investment for the robot, equipment and implementation was estimated to one million SEK. A payback period was estimated to 8 years and if the robot will be used for two carousels, the payback period will be 4 years. The conclusion is that the implementation of the robot is feasible for this application in every aspect of the study, and the implementation can be recommended. The implementation is not feasible, only if there is another project that can prove to be more economically beneficial, that should be invested in first.
Place, publisher, year, edition, pages
2015. , 65 p.
Utbildning och lärande
Feasibility, ABB, Robot
Other Engineering and Technologies not elsewhere specified
IdentifiersURN: urn:nbn:se:his:diva-10887OAI: oai:DiVA.org:his-10887DiVA: diva2:809620
Subject / course
Industrial Automation Engineer
Schmidt, Bernard, Doktorand i inform.teknologi
Sandberg, UlfOscarsson, Jan, PhD