Re-configurable dual-robot assembly system design, development and future directions

This paper describes the design and development of a re-configurable dual-robot assembly system using off-the-shelf re-configurable pneumatic modules, Hall-effect sensors, a vision system, and a programmable logic controller (PLC). Each robot arm consists of three sets of pneumatic modules and a pneumatic gripper. Each module consists of a pneumatic housing, an air cylinder, and a Hall-effect sensor, and provides one degree of freedom. Solenoids are used to redirect airflow and thereby extend and/or retract the air cylinder. A vision system is used for fixture inspection. A conveyor and part stopper are designed to transfer and stop pallets. All these modules, the gripper, the part stopper, and the vision system are controlled and synchronized using a PLC. At the end of this paper, a framework for making the system over the Web for remote operation and diagnosis is proposed and described.