Model Based System Engineering of a smart collaborative robot

MODEL BASED SYSTEM ENGINEERING OF A
SMART COLLABORATIVE ROBOT WITH
VISION, VOICE AND IIOT CAPABILITIES

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Table of Contents
1. Introduction..............................................................................................................................2
1.1 Background.......................................................................................................................2
1.2 Scope.................................................................................................................................3
2. Aim and Objectives..................................................................................................................4
3. State of the Art.........................................................................................................................5
4. Methodology............................................................................................................................8
5. Requirements Specification....................................................................................................10
6. Design Specification...............................................................................................................11
7. Design concepts and the final design.....................................................................................13
8. System Modelling using SysML............................................................................................14
8.1 Requirement Diagram.....................................................................................................14
8.2 Use Case Diagram...........................................................................................................15
8.3 Block Definition Diagram/Internal Block Diagram........................................................16
8.4 Parametric Diagram........................................................................................................16
8.5 Activity Diagram/Sequence Diagram.............................................................................17
8.6 State Machine diagram describing the control logic.......................................................18
9. Simulations & CAD Models..................................................................................................19
9.1 Python Simulation and Results.......................................................................................19
9.2 CAD Models...................................................................................................................21
10. Results & Discussion..........................................................................................................22
11. Conclusion..........................................................................................................................23
References......................................................................................................................................24

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1. Introduction
1.1 Background
It is getting a bit difficult to spot the difference between the collaborative robot tasks and the
industrial robot tasks, and the dominance of collaborative robots in the market is getting clearer
as these robots may be taking over a great market share by leaving behind the industrial robots.
Usually, industrial robots are kept aside for safety purposes and are only called in when the
tough manufacturing tasks like welding are in hand. While the collaborative robots are safe
enough to keep up with the humans and helping in the tasks where no industrial strength is
required. But the things are changing in the industry as the process of implementation of
collaborative robots in any size of the facility is getting easier because these robots are getting
smarter as well as tougher.
Being getting smarter and tougher, collaborative robots could be handling industrial tasks soon.
As the intelligence of collaborative robots leads to more productivity with flexibility, the
manufacturers might desire these robots even more to get maximum return on investment (ROI).
All these trends remind us that collaborative robots will start entering the industrial sector soon
enough.
1.2 Scope
The packaging process in the industry is a really crucial process. The easily integrated and highly
reliable robot automation makes this process easy. Specifically designed robots will take care of
the processes like loading and unloading of boxes, mixing, feeding, and the wrapping. The
design and optimization will be done for the packaging process with the payload of up to 30 kg.
Even the packaging applications like race tracking packing and tracking of moving conveyors
will be done through controllers, software, vision technology, and these robots. The main
highlight is that this automated process must be capable of working with humans as they will be
checking each component and placing it on the conveyors.

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Industrial Packing Robot

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2. Aim and Objectives
The main aim of this project work is to develop the autonomous packing robot. That must
capable of performing packing, wrapping, and palletizing etc. The robot will be implemented in
the footwear manufacturing company. Also, the robot must capable of working with humans and
synchronous conveyors.
 Performing initial analysis
 Collecting relevant literature
 Carry out System modelling process
 Finalizing the robot design
 Finding scope for improvement

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3. State of the Art
The packaging process of irregular definitely has issues and the engineering and science
researchers have started to focus on these issues lately. However, there have some constraints
when it comes to the tasks being more manageable and the demands of a given application.
The discussion among the researchers has the main topic of heuristic nesting algorithm for
irregular parts. [8] Trim loss is also being affected by some factors which are also part of the
discussion. The theme of the application shows that the process involves rectangular stock sheets
and the cutting procedure is done to get bill-of-materials. The author likes to take on the problem
through a systematic approach that results well. Performance measurements are developed based
on the produced results. The authors also go through the already published work in this specific
area and find out that there were techniques that were developed for the packaging process of the
irregular shapes but weren’t published due to commercial confidentiality. The irregular shapes in
these studies were presented as non-overlapping rectangles. As a matter of fact, the authors
clearly mention that no more than five non-overlapping orthogonal rectangles can represent each
and every part in their study. [21] The orientation of each part in the system is like that (a) its
length is greater than its height and (b) in the upper-right corner there is the largest
complimentary (void) area. The sorting of the parts is done on the basis of non-increasing part
height. The packing of shapes is done in a raster fashion and the layers are build up
demonstrating intermeshed packed shapes. There are two disadvantages to this approach. The
first disadvantage is the use of rectangles for the approximation of the packing of shapes. [18]
The second disadvantage is assuming that orthogonal will be good patterns for packing.
Instead of using the rectangle, the author chooses polygons to examine the nesting of shapes. The
authors keep in mind the minimizing waste while discussing the favourable way of packing of
two-dimensional polygons [1]. The nesting of congruent2 convex figures is the one where the
algorithm can be applied. [13] The problem here is referred to as the ‘template-layout problem’
in which a number of irregulars yet similar pieces are cut from a steel board. To make it more
convenient, the authors create two sub-problems out of this one problem. In the first sub-
problem, the most appropriate convex polygon is used for the favourable (minimal waste)