ELECTROMAGNETIC TOOL

CHANGER FOR ABB IRB1200

ROBOTICS AND AUTOMATION PROJECT BY

MR. CHANDRASHEKHAR V. CHUDMUNGE

MASTER OF SCIENCE IN ROBOTICS AND AUTOMATION
ELECTROMAGNETIC TOOL
CHANGER FOR ABB
IRB1200
The project dissertation aims at the utilization of industrial robot and their
tool changing methods. Usually, most of the robots in industries use
Pneumatic, hydraulic, electric motor and actuator for holding tools and carry
out their respective job, after which the robot changes accordingly to the
necessity of the job. In this project, an alternative method of holding the tool
is tested, which is through the use of an electromagnet, instead of
Pneumatic, hydraulic, electric motor and actuator.
With the help of this project it will be concluded that, by using the
electromagnet in the tool changing system for ABB robot makes the system
very effective and much easier to perform. Due to this the tool changing
concept becomes simple and easy to install. By introducing new
input/output, the whole system can get programmed from the flexpendent
of the robot, by maintaining some precise work the robot can access to
several varieties/combinations of the tool used in the industry.
In this dissertation project, two similar dremels are used one affixed with a
drilling tool while the other with grinding tool. The aim is to make the robot
pick the drilling tool from a stand and perform the job and place it back once
the drilling job is finished and then pick up the other Dremel with grinding
tool and do the job as said, here as well the tool will be placed on the stand
after the work has been done. This system would be very useful to
industries where two separate work is performed with two different robots.
This can save the time, space and economy by installing just a single robot
which performs both the job.
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ROBOTICS AND AUTOMATION AIM
PROJECT The project relates to
the tool changing

INTRODUCTION phenomena but with

Robotic tool changers are tools which are used on robots to change different methodology.
end effectors, with the help of which a robot can perform multiple To manufacture a
tasks. It helps to enable access switching between two different device which can hold
tools-drilling Dremel and grinding Dremel. A robotic tool changer
and pick up the desired
is composed of two types of tools that are used to standardize the
tool as per the
interface between the robot wrist and the job. There are several
problems that will be face while designing, manufacturing, and requirement of the
changes at the trail. In the exhibit world, there needs aid a few user. The designing
noteworthy innovations which aggravate our existence. Less consideration are in
demanding also safer over at any point in front of. To follow and
such manner that the
achieve these all points, in this project the new concept is introduced
device will not leave
by using Electromagnet in the tool of the robot. This can be done
by involving separate input for electromagnet so that it can be the tool while in its
manageable to use electromagnet at any time within the working working hours. This
cycle. The project can be done by proper planning and following holding performance is
few set of steps. Firstly, which would include to define which part
carried out with the
should be there to perform this mechanism, according to which the
formation of design can be done. After getting an idea about the help of electromagnet.
possible movements of the robot and tool, it would be easy to So this is the main body
evaluate the necessary supports/requirements. After selection of of the dissertation.
material and finalisation of design can be carried out. Finalisation
of material and design promote to manufacture that device.
Between all this, the errors and difficulties are evaluated. Within
this, the main motto is to reduce the price of the product as much as
possible because in the market the cost of the tool changing device
is very high. The device can be used in any workshop that includes
the drilling function in their chores, as grinding is concerned,
grinding is mostly carried out to make the hole polish, it can an
advantage as the tools is occupied with both the tool.The
programme developed for the tool can be applied to other similar
robot with size more than 10 times or more of the model used. One
of the drawbacks of using the tool is it is immobile as it needs to be
fixed at a particular position to get its job done.
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Objective
The main motto of this project is to change the tool and use it on the respective job and place it
back where it was. The second point to be a concern is about the cycle time to perform the same
work, here the cycle time is improved accordingly. Hence the robot needs to do two separate
performance first one is drilling, it will drill the four holes in the block of wood in the position
like square edges. And then the second performance is of grinding, it will grind on the same
position where drilling work are carried out. This one is done to remove the blur formed during
the drilling operation.

The performance cycle for satisfying this aims includes some sequence so that it will give the
expected movement and performance as well. It includes the robot with the device will go to the
drilling tool, then pick that up will move towards the job, perform the operation and come back
to the home position of drilling tool and place it back. Then it will approach to take grinding tool
just beside to drilling tool and pick it up then move towards to the job and do its defined work
after that it will come back to place the tool back. Then finishing everything the robot with
device will move to robots home position (0.0.0).
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Results
The aim of the project is to make drill and then grind the same hole created by drilling with the
help of electromagnetic tool changer and two separate dremel. So the results are by performing
proper programming and clever utilization of electromagnet, drilling Dremel and grinding
dremel.
The robot firstly pick up the drilling tool and move towards the job and made four holes on the
wooden block in the shape of a square. Then robot will place the drilling tool and pick up
grinding tool and do the grinding operation in the same holes. While making of four holes the
velocity and zonedata are managed properly.
The image shown below gives the idea about how it worked while drilling and grinding.