Faculty of Computing: Cobot Design Study for Mechatronic Systems

This report presents a model-based system engineering approach to designing a smart collaborative robot (cobot) with vision, voice, and IIoT capabilities. The introduction highlights the cobot's applications in industrial settings and discusses its main constraints. The report's aim is to design a smart palletizing robot, outlining the methodological approach, which includes requirements specification, use case diagrams, block definition diagrams, activity diagrams, and state machine diagrams. The study explores obstacle detection using cameras and pathfinding methods, specifically the A* algorithm. Diagrams are used to illustrate the robot's workflow and architecture. The report references relevant literature and concludes with a summary of the design process. The report covers the design of a smart collaborative robot with vision, voice, and IIoT capabilities.

Model Based System Engineering of
a smart collaborative robot with
vision, voice and IIoT capabilities

Contents
 Introduction
 Main Constraints associated with the Cobot
 Aim & Objectives
 Literature Review
 Methodological Approach
 Requirements Specification
 Use case Diagram
 Block Definition Diagram
 Activity Diagram
 State Machine diagram
 Obstacle Detection
 Path Finding Methods
 Summary
 References

Introduction
 Type of robot designed to work with humans
 Generally deployed in the workstation includes a
robot and human collaboration
 Highly helpful in industrial manufacturing plants
 Typical applications include welding, assembly, pick
and place and palletizing etc.
 Types of Cobots
 Joint sensing
 Force sensor base cobots
 Skin sensing cobots
 Inherently safe cobots

Main
Constraints
associated
with the
Cobot
 Requires higher standard of maintenance
 Involves complex programming process
 Highly complex system
 Cost of the system is also high

Aim &
Objectives
 Main aim of the project is to create the design for
smart palletizing robot
 The process starts with the requirement identification
process
 After that, the Use case diagram will be developed
 Then the block definition diagram will be developed
 Activity diagram will be created in the fourth stage
 And then the state machine diagram will be
developed

Literature
Review

Methodologic
al Approach
Phase 1 -
Concept of
operation
Phase 2 - CAD
design
development
and simulation
Phase 3 -
Refining and
prototyping

Requirements
Specification

Requiremen
t
Specificatio
ns
 It must meet the zero environmental impact
requirements
 Passive safety measures must be included in the
design
 Must capable of running on 110VAC current
 Mobility of the robot also required
 A smart control system must enable the live visual
and audio monitoring to find obstacles
 IoT sensors may use for ensuring better process
optimization

Use case
Diagram

Use case
Diagram
 The use case diagram of a cobot is had two use cases
and one system.
 The use cases are operator and developer. The
system is cobot.
 The cobot is doing the autonomous drive, move spiral
and running the robot system.
 The developer work is creating the component and
running robot system.
 The operator work is strat the cobot and moves the
spiral back and forth.

Block
Definition
Diagram