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  • About
  • The Global ETD Search service is a free service for researchers to find electronic theses and dissertations. This service is provided by the Networked Digital Library of Theses and Dissertations.
    Our metadata is collected from universities around the world. If you manage a university/consortium/country archive and want to be added, details can be found on the NDLTD website.
1

Förstudie till flödesackumulering på Astra Tech / Pre-study of flow accumulation at Astra Tech

Johansson, Pontus, Kullberg, Lovisa January 2011 (has links)
Syftet med arbetet var att undersöka möjligheten för optimering av produktflödet. Företagets produkter transporteras på ett transportband till en gemensam process. Det nuvarande flödet till processen är inte optimerat vilket resulterar i att processen körs ineffektivt. Ackumulering av produkter innan processen ska därför undersökas som en lösning till problemet. Fyra olika ackumuleringsförslag har analyserats och jämförts: hängande bansystem, palleteringssystem, depalleteringssystem och kombination av bansystem och palleteringssystem. Förslagen har blivit bedömda och jämförda utifrån följande parametrar: yta, investeringskostnad, flexibilitet, arbetsbelastning, arbetsmiljö och tid. Hängande bansystem fick det högsta snittvärdet och valdes därför för fortsatt analys med stöd av simulering. Simuleringen gjordes i ExtendSim 7. Två simuleringsmodeller jämfördes, en med ackumulering av produkter i bansystem och en utan. Resultatet var att ackumulering av produkter kan ge en besparing på 16 procent i driftkostnader per år. Simulering av övriga förslag kan göras för att få en tydligare jämförelse mellan förslagen. Rekommendationen till företaget är att ackumulera produkter i ett bansystem. Det baseras på analys av jämförelsen. Analysen och diskussionen visar också att robothantering inte är en passande lösning på problemet, eftersom rörelserna skulle skaka om produkterna för mycket. En vidare undersökning av utformningen av bansystemet bör göras för att få fram den optimala utformningen. / The purpose of the work was to investigate possibilities for optimization of the material flow. The different products of the company are being transported by a conveyor belt to a common process. The current flow to the process is not optimized with the result that the process runs inefficiently. Accumulation of products before the process should therefore be investigated as a solution. Four different accumulating systems have been analyzed and compared: hanging conveyor belts, palletizing, depalletizing and a combination of conveyor belts and palletizing. The systems have been assessed and compared according to six parameters: area, investment cost, flexibility, work load, work environment and time. The hanging conveyor belt yielded the highest average score and was therefore chosen for further analysis with the support of simulation. The simulation was made in ExtendSim 7. Two simulation models were compared, one with accumulation of product in conveyor belts and one without. The result of the simulation part was that accumulation of product results in savings of running costs with 16 percent per year. To get a better comparison between the accumulation systems simulations of all systems can be done. The recommendation to the company is to accumulate products in a conveyor system. This is based on the analysis of the comparison. The analysis and discussion also shows that robot handling is not an appropriate solution to the problem, because the movements would shake the products too much. A further investigation of the layout should be done in order to find the optimal layout.
2

Commande d'un système robotisé de type torse humanoïde pour le transport de colis de taille variable / Control of a robotic system based on humanoid torso and arms for the transport of parcels of variable dimensions

Benali, Khairidine 25 October 2019 (has links)
Dans les entrepôts logistiques, les moyens robotiques sont de plus en plus fréquemment utilisés pour réduire les temps non productifs, déplacer des charges lourdes, limiter les risques d'erreurs pendant les opérations de préparation de commandes (picking, de/palettisation,...), faire des inventaires (drones,...) et améliorer les conditions de travail des opérateurs humains. Bien que l'homme reste incontournable pour les tâches de préparation de commande à cause de son adresse et de son aptitude à s'adapter à des tâches toujours différentes, l'augmentation de la productivité est souvent synonyme d'augmentation de la pénibilité au travail (troubles musculo-squelettiques,...). Les travaux de recherche présentés dans cette thèse sont une contribution à la robotisation des opérations de dé/palettisation pour des colis de taille variable qui exigent une grande polyvalence du système de préhension. La solution innovante que nous proposons consiste à utiliser un torse humanoïde équipé de deux bras manipulateurs munis de préhenseurs adaptés à la saisie d'objets de taille et de masse différentes. La principale contribution porte sur la conception d'une loi de commande hybride Force/Position-Position avec commutations, estimation du glissement de l'objet, prise en compte de la compliance et correction de la force de serrage pendant la manipulation. Cette solution suppose d'assurer la collaboration entre les deux bras manipulateurs et de s'adapter à l'environnement matériel et humain (cobotique). / In logistics warehouses, automation in the sense of robotization is frequently being employed to cut down production times by efficiently managing the processes of picking heavy loads, place, pack and palletize, while reducing the risks and errors to improve the working conditions of human operators along the way. The flexibility of human is fundamental for order preparation owing to adaptive skills for task variation, but at the same time increasing productivity is complemented with fatigue (musculoskeletal disorders). In this context the research presented in this thesis is a contribution in the robotization of palletization operations requiring exceptional versatility of manipulation and gripping. We have proposed an innovative solution of utilizing a humanoid torso equipped with two manipulator arms with adaptive grippers to grasp and hold the objects of variable size and mass. The main contribution of research is the development of a hybrid Force / Position-Position control law with commutation and estimation of the object surface slip, while taking into account the compliance and correction of the clamping force during handling. The execution of the control involves the collaboration of the two arms for coordinated manipulation and adaptation to the material and the human environment (cobotics).

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