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 palleti...Read More

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

Block
Definition
Diagram
 The frame is a structural component of the robot, all
the parts are mounted on the frame
 The actuator of the robot is responsible for actuating
the robot parts
 Robot arms are actuated by electrical motors
 Robot grippers are actuated by hydraulic or
pneumatic system
 The power control unit is responsible for ensuring the
robot's power limits.
 Smart control system responsible for detecting
obstacles and finding the path

Activity
Diagram

Activity
Diagram
 Graphical representation of the workflow
 Shows the step by step processes
 The process is started by an operator or programmer
 The ultrasonic sensor system is used for the primary
pathfinding process
 Video camera fitted outside of the robot also used for
finding obstacles on the path
 After finding the trajectory the robot control system
actuates the robot arms and grippers

State
Machine
diagram

State
Machine
diagram
 Used for describing the behavior of the systems
 Includes states and state transactions connecting the
states
 Here state represents the condition of certain points
or object
 Systems can be viewed as moving from one state to
another state

Obstacle
Detection

Obstacle
Detection
 Camera fitted in the work center records the HD video
 All the collected data are converted into a more
usable format
 Different types of signals are classified in this stage
 Voice signals and video signals are identified
 Feature detection process has been initiated
 Then object detection process has been initiated

Path Finding
Methods

Path Finding
Methods
 A* algorithm is used for path finding process
 One of the most effective path finding algorithm
 Most preferred algorithms because of its
completeness, optimal efficiency, and optimality, etc.
 Works based on Dijkstra's shortest path algorithm
 Use heuristic for improving the performance
 So it reduces the time for comparing the different
paths

References
[1]C. Huang, Z. Huang, J. Hu, Z. Wu and S. Wang, "A
MDE-Based Approach to the Safety Verification of
Extended SysML Activity Diagram", Journal of Software,
vol. 10, no. 1, pp. 56-70, 2015. Available:
10.17706/jsw.10.1.56-70.
[2]Y. Xu and L. Wu, "An Automatic Test Case Generation
Method based on SysML Activity Diagram", IOP
Conference Series: Materials Science and Engineering,
vol. 563, p. 052075, 2019. Available: 10.1088/1757-
899x/563/5/052075.
[3]F. Vicentini, "Terminology in safety of collaborative
robotics", Robotics and Computer-Integrated
Manufacturing, vol. 63, p. 101921, 2020. Available:
10.1016/j.rcim.2019.101921.
[4]S. Papatheodorou, A. Tzes and Y. Stergiopoulos,
"Collaborative visual area coverage", Robotics and
Autonomous Systems, vol. 92, pp. 126-138, 2017.
Available: 10.1016/j.robot.2017.03.005.
[5]R. Jarvis and A. Zelinsky, Robotics research. Berlin:
Springer, 2003.

Thanks….