1. A three-machine workcell uses one single robot to load and unload the machines. The robot picks up a part from incoming conveyor and loads it on a machine fixture, then after completion of machining it unloads the part and drops it onto exit conveyor. The machines have identical cycles. The work cycle consists of the following sequence of activities: Seq. Activity Time 1Robot reaches and picks part from incoming conveyor and loads into fixture on 5 sec machine tool. achining cycle (automatic) 30 sec 4 sec 3Robot reaches in, retrieves part from machine tool, and deposits it onto outgoing conveyor. 4 Move back to pickup position 2 sec a. What type of workcell layout is the most suitable for this case? Make a sketch of the workcell showing relative positions of different pieces of equipment in the cell. b. Draw a machine/process time chart showing the activities in the work cell. Indicate on each activity the status of both the robot and the machine c. Determine the amount of machine interference and the amount of robot idle time. d. Make a list of the interlocks required for the workcell. For each interlock indicate whether it is an input interlock or an output interlock. For each of the input interlocks, define what the interlock should sense before the signal is sent to the work cell controller. For each output interlock, define what conditions must be satisfied before the signal is sent from the workcell controller. e. List five errors which could happen during the operation of this work cell. Give a recovery strategy for each error. 1. A three-machine workcell uses one single robot to load and unload the machines. The robot picks up a part from incoming conveyor and loads it on a machine fixture, then after completion of machining it unloads the part and drops it onto exit conveyor. The machines have identical cycles. The work cycle consists of the following sequence of activities: Seq. Activity Time 1Robot reaches and picks part from incoming conveyor and loads into fixture on 5 sec machine tool. achining cycle (automatic) 30 sec 4 sec 3Robot reaches in, retrieves part from machine tool, and deposits it onto outgoing conveyor. 4 Move back to pickup position 2 sec a. What type of workcell layout is the most suitable for this case? Make a sketch of the workcell showing relative positions of different pieces of equipment in the cell. b. Draw a machine/process time chart showing the activities in the work cell. Indicate on each activity the status of both the robot and the machine c. Determine the amount of machine interference and the amount of robot idle time. d. Make a list of the interlocks required for the workcell. For each interlock indicate whether it is an input interlock or an output interlock. For each of the input interlocks, define what the interlock should sense before the signal is sent to the work cell controller. For each output interlock, define what conditions must be satisfied before the signal is sent from the workcell controller. e. List five errors which could happen during the operation of this work cell. Give a recovery strategy for each error