A ROBOTIC SYSTEM WHICH ASSISTS UNMANNED PRODUCTION BASED ON COOPERATION BETWEEN OFF-LINE ROBOTS AND ON-LINE ROBOTS (PART 1, CONCEPT, DESIGN AND DEVELOPMENT OF THE OFF-LINE ROBOT SYSTEM)

摘要

In order to support unmanned production, we have proposed a robotic system by the introduction of off-line robots. When troubles occur in an automated production system, the off-line robots, instead of human workers, assist on-line robots and production devices which perform manufacturing works on a production line or site. Fist, the concept of the off-line robot is proposed. Then, the design and development of an off-line robot and its pilot plant for production evaluation are presented. The off-line robot has a power-wheeled steering (PWS) type mobile platform on which a double-arm manipulator is installed. In order to detect and recognize three-dimensional objects, double CCD cameras are equipped on the top of the robot. Two types of robot end-effectors are developed to handle workpieces and conduct trouble shooting actions.