UOM Robotics and Industrial Automation Laboratory

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1 UOM Robotics and Industrial Automation Laboratory Department of Industrial and Manufacturing Engineering,

2 RIAL Mission o to be a Centre of Excellence in Malta for research, development, teaching and outreach in the broad areas of Robotics and of Industrial Automation o to make contributions to the international community in niche areas of Robotics and of Manufacturing Automation Department of Industrial and Manufacturing Engineering,

o to make contributions to the international community in niche areas of Robotics

3 RIAL Facilities o Mitsubishi RV-6SL 6-DOF revolute industrial robot, 91cm reach, 6kg payload, with controller upgrade, tracking card, and adjustable gripper, or vacuum gripper. Mounted on a highly reconfigurable table. o Epson E2S651S 4-DOF SCARA robot, 65cm reach, 5kg payload o PUMA DOF robot, 40cm reach, 1kg payload o Two Cognex/DVT smart image sensors (machine vision) o Six Mitsubishi FX1N-24 PLCs o Two flat belt conveyors (one with variable speed) o Machine vision lighting (ring light, strobe) o Other sundry equipment, components and tools Department of Industrial and Manufacturing Engineering,

o Epson E2S651S 4-DOF SCARA robot, 65cm reach, 5kg payload o PUMA 260 6-DOF robot, 40cm reach, 1kg payload o Two Cognex/DVT smart image sensors (machine

4 RIAL Research Two major themes: o Versatile grippers and dexterous robot hands slip sensing project; HAND project; various FYPs o Manufacturing Automation AUTOMATE project; various FYPs; Collaboration with local industry Department of Industrial and Manufacturing Engineering,

Manufacturing Automation AUTOMATE project; various FYPs;

5 The IAL Versatile Gripper 3 fingers 9 links, 1 DOF Stepper motor Remote actuation Tendon transmission Fingertip force, palm proximity sensors offline adjustable finger orientations Department of Industrial and Manufacturing Engineering,

force, palm proximity sensors offline adjustable finger

6 The IAL Material Transfer System PUMA 260 Robot DVT SmartImage Sensor IAL Versatile Gripper Conveyor, equipped with photoelectric proximity sensors PC (controller) Department of Industrial and Manufacturing Engineering,

equipped with photoelectric proximity sensors PC

7 The IAL Anthropomorphic Hand Model 1 2 fingers + thumb 2 coupled links per finger wrist pitch and roll 5 DOF DC motors Remote actuation Tendon transmission Tele-operated Department of Industrial and Manufacturing Engineering,

motors Remote actuation Tendon transmission

8 The IAL Anthropomorphic Hand Model 2 Exo-skeletal design 3 fingers + thumb 3 joints per finger human-like flexion motion 8 DOF DC motors Tendon transmission Position and force sensing Remote actuation and sensing Department of Industrial and Manufacturing Engineering,

motors Tendon transmission Position and force sensing Remote

9 The IAL Integrated Finger 4 joints, 3 DOF miniature DC motors full kinematic solutions Department of Industrial and Manufacturing Engineering,

10 Slip Sensing and Force Control F W Top attachment Strain gauge(s) Rubber skin Finger skeleton Primary contact Secondary contact Bottom attachment Object Novel sensor, to detect incipient object slip full analysis, experimental validation and simulation Department of Industrial and Manufacturing Engineering,

Object Novel sensor, to detect incipient object slip full analysis,

11 The IAL Glove Input Device 2 fingers + thumb data Wrist pitch and roll data Linear potentiometers and flexible bands Linear output Good resolution and repeatability Can fit hands of different sizes Department of Industrial and Manufacturing Engineering,

output Good resolution and repeatability Can fit hands of

12 The RIAL Haptic Glove Data input from finger and thumb MCP and PIP joints Development of a MRF actuator Force feedback to joints of middle finger Department of Industrial and Manufacturing Engineering,

actuator Force feedback to joints of middle finger

13 Dexterity Studies Optimization of anthropomorphic robot hand design through human manual dexterity testing Department of Industrial and Manufacturing Engineering,

14 Reporting and Test Standards Department of Industrial and Manufacturing Engineering,

15 Industrial Automation Projects Department of Industrial and Manufacturing Engineering,

16 Industrial Automation in Malta Comprehensive survey on the use, perceptions and problems associated with automation 70 local respondents Department of Industrial and Manufacturing Engineering,

17 Reconfigurable Automation A new model for the development of reconfigurable automation systems for high added-value manufacturing Development of a versatile manufacturing automation test bed, highly reconfigurable to cater for different sectors Implementation of model and test bed to three industrial test cases Development of industrial automation guidelines Department of Industrial and Manufacturing Engineering,

reconfigurable to cater for different sectors Implementation of model and test bed to three industrial

18 Thank you Department of Industrial and Manufacturing Engineering,

CIM Computer Integrated Manufacturing

CIM Computer Integrated Manufacturing INDEX CIM IN BASIC CONFIGURATION CIM IN ADVANCED CONFIGURATION CIM IN COMPLETE CONFIGURATION DL CIM A DL CIM B DL CIM C DL CIM C DL CIM B DL CIM A Computer Integrated Manufacturing (CIM) is a method of