Original Date: 01/23/1995
Revision Date: 01/18/2007
Information : A-PRIMED Robotic Work Cell
A robotic work cell has been designed and built at Sandia to perform manufacturing validation tests for A-PRIMED discriminator devices and to assemble these devices in low volumes. The robot in the work cell is controlled by code generated at Sandia using automated assembly programming capabilities.
This currently portable work cell incorporates a unique, modified hexagonal aluminum design built on a statically determinate, three-point steel support structure. This structure allows the cell to be easily integratable, lightweight, and to occupy minimal floor space. The workcell accommodates variation of the robot height, overhead lighting arrangement, and cameras. Future plans include mounting the robot to a separate base to determine the possible effects of vibration on the robotic cell.
The x-y-z carriage is utilized to position a laser head to spot weld the gear on the shaft of the discriminator. The cell includes a Class 4 laser that, with enclosures, is reduced to a Class 1 laser. The laser welder is outside the robotic working space radius and parts are transferred from the robot to the laser by a pivoting tray. A camera-controlled vision system controls the movement of the robot, and with the addition of corrections to this system, the robot is accurate to within 0.002-inch.
This system is an integral part of the A-PRIMED Project as one of the intelligent machines that form the core of agile production technology.
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