Industry 4.0: examples of the use of the robotic arm for digital manufacturing processes
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TECHNICAL PAPER
Industry 4.0: examples of the use of the robotic arm for digital manufacturing processes William S. Barbosa1 · Mariana M. Gioia2 · Veronica G. Natividade3 · Renan F. F. Wanderley2 · Marcelo R. Chaves3 · Felipe C. Gouvea4 · Flavia M. Gonçalves5 Received: 14 November 2019 / Accepted: 19 September 2020 © Springer-Verlag France SAS, part of Springer Nature 2020
Abstract The use of robots for pick and place, welding, subtractive and additive manufacturing are spreading at the last years with the concept of industry 4.0. This paper presents all modifications, adjusts and applications of a KUKA KR16 robotic arm at PUC-Rio, using the robot at different forms (e.g. milling machine, styrofoam cutting machine, pick and place machine). The purpose is to demonstrate how a robot arm can be used by applying the concepts of industry 4.0, 3D printing techniques, milling and other tools, with the aim to verify the impact of these transformations and uses for engineering and industry in general. Keywords KUKA KR16 · Milling robots · Visual servoing · Industry 4.0 · Digital manufacturing
1 Introduction
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William S. Barbosa [email protected] Mariana M. Gioia [email protected] Veronica G. Natividade [email protected] Renan F. F. Wanderley [email protected] Marcelo R. Chaves [email protected] Felipe C. Gouvea [email protected] Flavia M. Gonçalves [email protected]
1
Department of Electrical Engineering, PUC-Rio, Rio de Janeiro, Brazil
2
Department of Mechanical Engineering, PUC-Rio, Rio de Janeiro, Brazil
3
Department of Architeture and Urbanism, PUC-Rio, Rio de Janeiro, Brazil
4
TECGRAF Institute, PUC-Rio, Rio de Janeiro, Brazil
5
Department of Chemistry and Materials Engineering, PUC-Rio, Rio de Janeiro, Brazil
The evolution of the use of the robotic arms at manufacturing begins in 1937 with the first robot design by “Bill” Griffith P. Taylor with a “crane-like” design. In 1954, George Devol construct a robotic arm with hydraulic actuators that was able to pick one piece and place it in another defined place. In 1969 Victor Scheinman at Stanford University invent the first 6 axes robotic arm, called “Stanford Arm”, with electric motors and after that another plataforms called “MIT arm” and “PUMA” (Programmable Universal Machine for Assembly). In 1974 the KUKA robotics developed the robot called “Famulus”. In 1979 Japan introduce the SCARA (Selective Compliance Assembly Robot Arm) (Fig. 1). At the 80’s with the improvement of the microprocessor technologies, the use of robotic arms in welding and mounting was spread, specially at the automotive industries and the robotic industry had a grown, with YASKAWA, FANUC, MOTOMAN, ABB, KUKA and another companies, as shown at [21][24][15]. In the 90’s and 2000’s the use of IoT (Internet of Things) at manufacturing [4], with the SCADA (Supervisory Control and Data Acquisition) systems has made manufacturing processes ever faster and more accurate. Thus, the use of robotic arms proved to be an effective
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