We are currently installing a robotic cell to demonstrate some of the principles involved in virtual factory research and to support our education and research programs. A few of the research thrusts are as follows:
Additionally, the cell will serve as a laboratory environment for ISyE and manufacturing-related courses. The cell can be viewed from the ISyE undergraduate lounge through a window between the lab and the lounge. Eventually, students studying in the lounge will be able to watch the robot cell in operation, as other students perform research and lab exercises. The robot cell is shown below:
The CRS Robotics equipment shown above is used in high tech lab environments for biomedical and pharmaceutical applications. Such environments increasingly require the use of flexible automation for delicate, precise and repetitive tasks. Sample applications include DNA sequencing, drug production and bio-sample testing.
Previously, a three-dimensional animated simulation model of the lab and robot cell was developed using IGRIP from Deneb Robotics. IGRIP is a powerful simulation tool for off-line robot programming, behavioral and kinematic analysis, and system prototyping. The figures below show snapshots from the IGRIP model.
The cell is located in the Keck Virtual Factory Lab, shown above. It is shown enclosed in an orange mesh that represents a protective screen. The cell will front the window between the lab and the ISyE undergraduate lounge. Students studying and meeting there will be able to see it in operation.
A closer view of the cell, which consists of a CRS F3 robot mounted on a track and a storage carousel device, plus two tables representing workstations. We intend to expand the cell with additional equipment.
The robot takes workpieces from the carousel, which rotates the needed workpiece to the pick-up position. The carousel will provide a platform for research and education in scheduling and optimization of storage/retrieval operations. The green curve is the path of the robot gripper through space. It is based on a set of tag points, which are points defined in space used for the robot's path to ensure collision-free behavior.
The robot moves workpieces to the workstations for processing.
Stay tuned for future updates!
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Created August 11, 1998. Last modified November 13, 1998. Copyright 1998.
Maintained by Douglas A. Bodner. Send comments to bodner@isye.gatech.edu.
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