Objective:

Robots are often used as programmable open$-$loop positioning devices for various industrial processes such as pick$-$and$-$place, assembly, paint spraying, etc. In this type of operations, the robots operate with very little or even no sensory feedback from the process in which they participate. In order to understand the different aspects and also the limitations of this type of open$-$loop industrial robotic processes, students will be guided to perform a simple robotic assembly task.

Apparatus:

a$.$ RX$-90$ robot with special gripper.

b$.$ Pneumatic solenoid.

c$.$ Pallet with a template.

Task Description:

An electrical$-$pneumatic solenoid $($Figure $1)$ which consists of $3$ parts, naquely part $\text{'}$A$\text{'},\text{'}$B$\text{'}$ and $\text{'}{C}^{\text{'}}$ is to be assembled by a RX$-90$ robot with a special gripper. All the parts are initially located on the template of the pallet $($Figure $2).$ The pallet rests on the conveyor adjacent to the robot. Part $\text{'}$A$\text{'}$ and $\text{'}$B$\text{'}$ actually seat on the cavities of the template such that sideward movement is inhibited. Firstly, the RX$-90$ should be programmed to pick up part $\text{'}$B$\text{'}$ and then place it on top of part $\text{'}$A$\text{'}$ with correct orientation. After completing the aforementioned steps, the robot should pick up part $\text{'}$ C $\text{'}$ and fasten it onto part $\text{'}$ A $\text{'}.$ The student should learn how to teach the robot and write a robot program to accomplish the above tasks.

All the programming work should be finished within the laboratory time. During on$-$line testing, the speed of RX$-90$ should be set as low as possible to avoid any damage due to collisions.

After the robot control program has been tested under the normal condition, the students should remove one of the parts on the pallet and observe the effect of the missing part in the whole assembly process.

Figure $1$

figure $2$