Automation of a complex transfer operation using a polar manipulator

Abstract

Purpose

The objective of this paper included developing a polar robot (SPBot) for rotating and transferring car engine block (CEB) around and along two different axes in a confined workspace envelope.

Design/methodology/approach

The complex transfer operations of the CEB requires sweeping complete surface of the half sphere, and thus a polar robot is best suited to such a task in a confined space. Considering the limited space for this operation, a specially designed manipulator is built comprising 2 degrees of freedom driven by electrical servo motors. Also due to the special form of CEB, an especially designed pneumatic gripper is developed. Kinematics models, static and dynamic equations, together with trajectory planning for such a manipulator are described.

Findings

The high‐speed complex transfer in a limited environment is successfully implemented.

Originality/value

The developed polar robot provides for complex transfer operations that significantly increases the speed of the product line and thus reducing the cycle time from 60 s using manpower to just 20 s using the robot.

Citation

Moradi Dalvand, M. (2009), "Automation of a complex transfer operation using a polar manipulator", Assembly Automation, Vol. 29 No. 1, pp. 68-74. https://doi.org/10.1108/01445150910929884