Browsing by Author "Deacon, Matthew Marc"
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- ItemAlternative methods of material handling within a reconfigurable manufacturing station.(Stellenbosch : Stellenbosch University, 2017-03) Deacon, Matthew Marc; Basson, A. H.; Stellenbosch University. Faculty of Engineering. Dept. of Mechanical and Mechatronic Engineering.ENGLISH ABSTRACT: This thesis contributes to evaluating methods of material handling within a reconfigurable manufacturing station, as alternative to a six degree of freedom articulated robot arm. This research follows the design process of formulating the design requirements, considering different concepts and evaluating them, designing a selected concept in detail, validating the concept using test data and then applying the concept to a broader application. A few material handling methods are briefly considered before focusing on the use of a Cartesian robot. Different configurations of a Cartesian robot were considered. As part of the design analysis, a model was developed which allows for the input of various station parameters and provides an estimate of the station’s throughput and cost. This estimation model was implemented in MathCAD and split into two parts: a throughput estimate and a cost estimate. The inputs into the model are the process module configuration and the target kinematics. The model includes load and force calculations for each axis and component selection, as an input to the cost estimate. A control system was developed, based on the PROSA architecture and implemented in C#. The design and implementation of this control system is discussed in this thesis. To be able to validate the research results, a case study is used as an example implementation of the material handling method. However, the design is not limited to the case study, but rather provides a model for any process station with similar transport requirements. The model was validated using a test setup in the Automation Laboratory that uses Festo components. The model therefore only provides for Festo components at this stage, but can easily be expanded upon if other manufacturers are to be considered. After the model was validated, it was applied to the case study, including drive selection, to provide an estimate throughput and cost. These estimates are then compared to previous research that used a six degree of freedom articulated arm robot for a similar case. Other applications, different from the case study, of the model are also discussed.