Masters Theses

David Paulus

Date of Award

8-1992

Degree Type

Thesis

Degree Name

Master of Science

Major

Mechanical Engineering

Major Professor

Clement C. Wilson

Committee Members

Frank Speckhart, Stanley Becker

Abstract

A market survey of 34 East Tennessee companies was conducted as a joint effort between the Mechanical Engineering Department and the Marketing Department at the University of Tennessee in the summer of 1991. The intent of this study was to determine robotics applications criteria for a low cost cartesian robot being developed at the University of Tennessee. The results were used to establish the performance characteristics that this robot should achieve. The study established that approximately 80% of the market can be served by either point-to-point motion or path motion. Pay loads of under 10 pounds, reach less than 4 feet and unit price under $25,000 would meet up to 71% of the survey respondents. Furthermore, accuracy requirements up to 0.005 inches and a cycle time of over 2 seconds would meet at least 89% of the market. The Superior Engineering Design Program (SEDP) robot was compared to the established criteria of the market survey. The SEDP robot has a reach up to 8 feet, payload up to 20 pounds and an accuracy up to 0.005 inches. Maximum velocities up to 48 inches/second can be attained by summing velocities in all 4 degrees of motion. The unit price is projected to be under $15,000. Engineering work packaged the electronics emphasizing space utilization, customer convenience and air flow considerations. Design, selection, fabrication and implementation of necessary safety devices for industrial installation has been completed. In order to show that the SEDP robot can be a viable candidate to perform the two major types of motion, a feasibility study was conducted. This study included the design, fabrication and evaluation of a prototype unit to simulate a pick-and-place application for Magic Chef of Cleveland, Tennessee. This application involves moving 6.5 oz. steel gas stove burners from a set point and filling a pallet of 36 openings. Control signal communication between the robot and other auxiliary equipment has been demonstrated. The path motion application required the design of an end effector which contains an air grinder. Geometric patterns were cut in various types of wood to demonstrate this application. The point-to-point performance was evaluated by comparing attained cycle time and repeatability to Magic Chef criteria. The path motion performance was compared for linearity between input and output paths as well as unacceptable deflections. Recommendations for areas of further work have been made.

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