viii Contents
10.1 Introduction 283
10.2 Goals of AI Research 283
10.3 AI Techniques 284
10.4 LISP Programming 292
10.5 AI and Robotics 296
10.6 LISP in the Factory 297
10.6 Robotic Paradigms 299
Problems 300
References 301
PART 4 Applications Engineering for Manufacturing
11. Robot Cell Design and Control 305
11.1 Robot Cell Layouts 305
11.2 Multiple Robots and Machine Interference 310
11.3 Other Considerations in Workcell Design 312
11.4 Workcell Control 313
11.5 Interlocks 317
11.6 Error Detection and Recovery 318
11.7 The Workcell Controller 321
11.8 Robot Cycle Time Analysis 325
11.9 Graphical Simulation of Robotic Workcells 330
Problems 336
References 338
12. Economic Analysis for Robotics 340
12.1 Economic Analysis: Basic Data Required 340
12.2 Methods of Economic Analysis 343
12.3 Subsequent use of the Robot 346
12.4 Differences in Production Rates 347
349
12.6 Robot Project Analysis Form 351
Problems 352
References 354
PART 5 Robot Applications in Manufacturing
13. Material Transfer and Machine Loading/Unloading 357
13.1 General Considerations in Robot Material Handling 357
13.2 Material Transfer Applications 358
Contents ix
13.3 Machine Loading and Unloading 363
Problems 371
References 372
14. Processing Operations 373
14.1 Spot Welding 374
14.2 Continuous Arc Welding 376
14.3 Spray Coating 384
14.4 Other Processing Operations using Robots 389
Problems 393
References 394
15. Assembly and Inspection 395
15.1 Assembly and Robotic Assembly Automation 395
15.2 Parts Presentation Methods 396
15.3 Assembly Operations 401
15.4 Compliance and the Remote Center Compliance (RCC) Device 405
409
15.6 Adaptable-Programmable Assembly System 420
15.7 Designing for Robotic Assembly 422
15.8 Inspection Automation 423
References 427
PART 6 Implementation Principles and Issues
16. An Approach for Implementing Robotics 431
16.1 Initial Familiarization with Robotics Technology 431
16.2 Plant Survey to Identify Potential Applications 434
16.3 Selection of the Best Application 436
16.4 Selection of the Robot 437
16.5 Detailed Economic Analysis and Capital Authorization 439
16.6 Planning and Engineering the Installation 440
16.7 Installation 442
References 443
17. Safety, Training, Maintenance, And Quality 444
17.1 Safety in Robotics 444
17.2 Training 449
17.3 Maintenance 450
x Contents
456
Problems 457
References 459
PART 7 Social Issues and the Future of Robotics
18. Social and Labor Issues 463
18.1 Productivity and Capital Formation 465
18.2 Robotics and Labor 466
18.3 Education and Training 471
18.4 International Impacts 472
18.5 Other Applications 473
Problems 473
References 473
19. Robotics Technology of the Future 475
19.1 Robot Intelligence 476
19.2 Advanced Sensor Capabilities 479
19.3 Telepresence and Related Technologies 480
19.4 Mechanical Design Features 482
19.5 Mobility, Locomotion, and Navigation 484
19.6 The Universal Hand 488
19.7 Systems Integration and Networking 489
References 489
20. Future Applications 491
20.1 Characteristics of Future Robot Tasks 492
20.2 Future Manufacturing Applications of Robots 493
20.3 Hazardous and Inaccessible Non-Manufacturing
Environments 497
20.4 Service Industry and Similar Applications 504
20.5 Summary 510
Problems 511
References 511
Index 513
