Cartesian

Three prismatic joints, two of them are orthogonal

OLO or LOO type joints.
axes consistent with Cartesian coordinate system
Commonly used for:
pick and place application
assembly operations
handling machine tools
arc welding

Advantages:
Large work volume and inherently rigid structure
Large payload capacity
High accuracy
Constant accuracy/speed/payload capacity over entire range
Simple kinematic model results into simpler control system
Easily controlled/programmed movements
Disadvantages
can only reach front of itself
requires a large volume to operate in
work space is smaller than robot volume
unable to reach areas under objects
Cylindrical
TLO: One revolute and two prismatic joints.
consists of a vertical column. Arm assembly is
moved up or down relative to the vertical column.
The arm can be moved in and out relative to the axis
of the column.
Axes consistent with cylindrical coordinate system
Commonly used for:
handling die-casting machines
assembly operations
handling machine tools
spot welding
Advantages:
Control system simplicity due to simple kinematic model
good access into cavities and machine openings
very powerful when hydraulic drives used, Hence, Fast operation
Structural simplicity
 Good accuracy
Disadvantages
restricted work space
prismatic guides difficult to seal from dust and liquids
back of robot can overlap work volume
Polar or Spherical
TRL: base with a twisting (T) joint followed by
rotary (R) and prismatic joints (L)
Used where few vertical movements are required.
results into spherical coordinate system and a work
volume that is spherical.
Commonly used for:
Pick and place applications
arc/spot welding
Advantages:
covers a large volume from a central support
Large payload capacity
Fast Operation
can bend down to pick objects up off the floor
Disadvantages
complex kinematic model
Although it sweeps out a relatively large work volume, the access of the arm within this
total volume is limited.
Accuracy and repeatability reduce at long reaches

Jointed Arm
TRR: consists of a vertical column that swivels about
the base (T-joint), shoulder joint (R-type) is located
at the top of the column. The output link is an elbow
joint (R joint).
also be called 'anthropomorphic configuration' since
its movements resemble the movements of human
body.
Applications:
assembly , welding, weld sealing, spray painting,
handling at die casting or fettling machines
Advantages:
Very high flexibility: Ability to reach over and under objects
Easy access to front, sides, rear, and overhead
covers a large work space relative to volume of robots
revolute joints are easy to seal and suitable for electric motors
 Ability to traverse complex continuous path
Fast operation (due to rotary joints)
Disadvantages
second axis has to lift both the subsequent arm structure and payload
complex kinematics
control of linear motion is difficult
structure is not very rigid at full reach
Process Planning
Process planning involves the preparation for the manufacture of products.
Process planning deals with the selection and definition of the processes that have to be
performed in order to transform raw material into a given shape

Interpretation of the product design data to identify major features to be produced.

Determination of raw material Selection of machine tools.
Determination of set-up requirements.
Design of tools, dies, fixtures and gauges.
Determination of machining methods (production tolerances) and machining sequences.
Selection of cutting tools and cutting conditions.
Determination of tool paths (tool path planning) and generation of NC programs.
Generation of route sheet.
Manual Process Planning:
Manual process planning relies heavily on the expertise of a process planner.
Long lead time: complicated activities and decisions require more time and labour
Non-optimized and inconsistent process plan
Due to the rapid reduction in experienced process planner in industry and shorter product
life cycle, the importance of CAPP cannot be overlooked.
 Material Requirements Planning (MRP) is a computer-based technique for determining
the quantity and timing for the acquisition of dependent demand items needed to satisfy
the master production schedule requirements.
By identifying precisely what, how many, and when components are needed, MRP
systems are able to reduce inventory costs improve scheduling effectiveness, and respond
quickly to market changes.

Master production schedule: states which end items are to be produced, when these
are needed, and in what quantities.

Bill of materials (BOM) file: product structure tree and a listing of all of the raw
materials, parts, subassemblies, and assemblies needed to produce one unit of a
product. Each finished product has its own bill of materials.

Inventory record file (item master file): includes:

Item master data part number, order quantities, lead times.
Inventory status time-phased record of inventory status.
Subsidiary data purchase orders, engineering changes.
Some Definitions:
Group technology: Group technology is a philosophy in which similar parts are identified
and grouped together to take advantage of their similarities in design and production.
Part family: Part family is a collection of parts that are similar either because of
geometric shape and size or because similar processing steps are required in their
manufacture.
Cellular manufacturing: Cellular manufacturing is grouping the production equipment
into machine cells, where each cell specializes in the production of a particular part
family.
Objectives of GT
To make batch production more efficient and productive.
To integrate design and manufacturing in a firm.
Obstacles
Identifying the part families.
Rearranging production machines into machine cells
Benefits
It promotes standardization
It reduces material handling, setup times and work-in-process
Workers satisfaction and quality work improve

Three methods to group the parts into families:

1) Visual inspection: involves the classification of parts into families by looking at either
the physical parts or their photographs and arranging them into groups having similar
features. This method is simple, but its scope is limited to small companies having limited
number of parts. It also requires thorough knowledge of the entire part spectrum in terms
of design and manufacturing requirements of individual part. It is inexpensive but least
sophisticated. It may lead to incorrect results because different experts may have differing
judgments.
2) Parts classification and coding: Each part family is exclusively identified by an alpha-
numerical code, which represents their design attributes, manufacturing attributes or both.
it is the time consuming and complicated method.
Types of structures of coding systems: (i) Hierarchical / monocode, (ii) Chain-type /
polycode, (iii) Mixed-mode
3) Production flow analysis: a method for identifying part families and associated machine
groupings that uses the information contained on production route sheets rather than on
part drawings.
Possible anomalies:
Parts whose basic geometries are quite different may nevertheless require
similar or even identical process routings.
Parts whose geometry is quite similar may nevertheless require process
routings that are quite different.
CIM is recognized as Islands of Automation. They are
1. CAD/CAM/CAE/GT
2. Manufacturing Planning and Control.
3. Factory Automation
4. General Business Management
In a manufacturing firm, the physical activities related to production that take place in the
factory can be distinguished from the information-processing activities, such as product
design and production planning, that usually occur in an office environment. The physical
activities include all of the manufacturing processing, assembly, material handling, and
inspections that are performed on the product. These operations come in direct contact
with the product during manufacture. They touch the product.
Raw materials flow in one end of the factory and finished products flow out the other end.
The physical activities (processing, handling, etc.) take place inside the factory. The
information-processing functions form a ring that surrounds the factory, providing the
data and knowledge required to produce the product successfully.
These information-processing functions include (1) certain business activities (e.g.,
marketing and sales, order entry, customer billing, etc.), (2) product design, (3)
manufacturing planning, and (4) manufacturing control.

In the figure 5 Model of manufacturing, showing (a] the factory as a processing pipeline
where the physical manufacturing activities are performed, and (b) the information-
processing activities that support manufacturing as a ring that surrounds the factory
concerned more with the information-processing functions that are required to support the
production operations. CIM involves the use of computer systems to perform the four
types of information-processing functions. Just as automation deals with the physical
activities, CIM deals with automating the information-processing activities in
manufacturing.
Outer layer constitutes of general management which includes marketing, strategic
planning, finance, manufacturing management and human resource management.