tentafrågor

Question 1

What is important to consider when designing fixtures according to Herman Pollack? What will probably happen if you do not consider the rules from Pollack? A detailed description is required.

Answer 1

It is to fulfill the 3-2-1 method. First side 3 points support, second side 2 points support, third side 1 point contact support. This
locates the part in space. If this is not fulfilled, you may loose accuracy in the assembly or overconstrain.

I also expected a description of how the 3-2-1 method worked
For something to be classified as a fixture it isimportant to have a structure whichmaintains the relationship between its various
elements. It is very important to consider the3-2-1 rule (6 point contact solution).

This principle says that for a workpiece to be
completely confined it has to be banked against 3 points in oneplane, 2 points in another plane and 1point in the third plane. If we
don’t follow theserules we will not confine our workpiece in all6 degrees of freedom.

Also when building fixtureswe have to build some oversized and ovalholes that will allow the part to expand with heator some other elements and allow us tobring it out of the fixture when processing is done.

Question 2

Given the rather low number of products to build, what tooling strategy would you choose in selecting a solution based on this scenario. Explain in detail your reasoning. Keywords: Conventional Tooling, Modular Tooling, Flexible Tooling. Elaborate your answer.

Question 3

Bertil Thorvaldsson talked about the Gartner Hype Cycle. What is that?

Answer 3

The Gartner hype cycle describes the maturity of emerging technologies. Usually higher and higher expectations build up for a new
technology over time, as speculations about it occur. After some time, it is found that many of these uses are not possible or are
difficult to achieve, lowering the hype. After some more time, the applications where the technology works well are discovered and
implemented, which leads to a mature state of the technology in question.
In Initial stages all the technologies will look like or presentedas the solutions of the current problemsbecause of the hype created
by them when they were launched.But later it will berealizedthat those technologiesare not the final solutionsof the
problemsand eventually the hype goes down.This Gartner Hype cycle is that graph which shows how the expectations on each
technologychange over the time.

Question 4

What is Motoman and what is Yaskawa?

Answer 4

Motoman is the product, Yaskawa is the company

Question 5

levels of collab

Answer 5

cell
coexistens
synchronised
cooperation
collaboration

Question 6

Why should one use collaborative robot applications over traditional robots in final assembly, explain in detail advantages and risks?

Answer 6

**Advantages **
Aids the operator
To improve quality and efficiency
To improve flexibility
A solution to ergonomic issues

Risks (chatgpt)
Complex Tasks: For highly complex or heavy-duty tasks, cobots may not be as effective or efficient as traditional robots.

Compatibility Issues: There might be issues related to compatibility with existing tools and technologies used in the assembly process.

Job Displacement: There is a potential risk of job displacement for workers performing tasks that can be automated by cobots, leading to concerns over job security and workforce morale.

Skill Requirements: There is a need for workers to be trained to work with and program cobots, which may require significant investment in training and education.

Question 7

Describe the five abstraction levels of robot programming. Include the name of each level and some sentences on
what is specific for each level.

Answer 7

Joint
Robot
Object - use features from product and program
Task - first level of ML
Goal - not in industry today, AI-robots

Question 8

Define the roll-pitch-yaw orientation angles (RPY). Are these rotations carried out with respect to a fixed coordinate system or relative each other?

Answer 8

The RPY-angles are carried out by rotating about each coordinate axis of a fixed reference frame in the order X-Y-Z.

Question 9

What is RRS in robot offline programming and why is it used?

Answer 9

• Realistic robot simulation
• Better accuracy in simulation model
• Exact cycle times

(I/O link, file system, UI)

Question 10

Define at least six advantages in using a “Harmonic Drive” for industrial robots (3p)

Answer 10

The advantages include:
nhl cgh (cougars get horses)
* no backlash
* compactness
* light weight
* high gear ratios
* good resolution
* high torque capability