CHAPTER III

PROJECT BACKGROUND

3.0 Introduction
The more of Operators for fabrication can increase the Cost of Industry. Skill and
Ability from Operator must be Achievement. Usually, Industry give a achievement to
Operator use Money so That The Operators Are Spirit for Does Their Job with Limitation of
Operator Skills.
Limitation of Operator Skill are Factor number one for increase the Cost of Industry.
The are more Skill of operator, but the main Skill of operators influence Cost of Industy are
Speed, Accuration, and Energy . Need a Inovation for manipulation limitation of Operator
Skill above, Usually, industry has Made Inovation with to use a Robot.
Robot is a mechanical or virtual artificial agent, usually an electro-mechanical
machine that is guided by a computer program or electronic circuitry. The purpose of Robot
is Manipulation of Limitation of Operators skill for Descrease The Cost of Industry.
Kind of Robot is used Pick and Place. This robot has a Microcontroller is
Programme for Pick and Place Product command with the Great Speed and accuration. But
in here is does not explain how to make of Robot, but how to make a plan and connect a
Robot with it environment, Line and manufacture Tool Box Product .
3.1 Basic Concept of Project
There are more Basic Concept of Robot, but before concept is Developed, choose
Control and Manipulation will be used by the Robot is done .
A. Control
Funtional of This device is to limite the robots motion with Setup the Set
point. If the robot are gived a Set point, Motion of Robot can be mean as Free
Variabel. Free variabel is done the robot will be limited by Set Point, for Example :
Robot is Gived Set point 1 metres Distance, it means that Robot can motion as far as 1
Metres.

B. Manipulation
The purpose this Device is to Manipulation Limitation of Operators Skills.
For Example Speed Pick and Place Operator is Low, With Robot Speed pick and
Place is High Speed.
3.2 Concept of The System

Figure 3.2 Ilustration of Robot

In the Body Pressing Process, there are 2 Pressing Machine for make a Body Tool
box. 2 Robot is used for Pick and Place a Work Pieces . Robot Number 1 Move Work Pieces
From Box to Pressing Machine 1 , and Robot number 2 move Work Pieces from Pressing
Machine 1 to Pressing Machine 2 .
When the Power supply is on, Robot will Operation his Command for Pick and Place
the Workpieces, power supply is used 3 Phase 240 VAC 60 Hz, its Mean so needed a High
Electrical for turn on this Robot.
Vaccum Gripper is used for this Robot. Workpieces is Plat can not compatible if Hand
Gripper is Used than Vacum Gripper . Vacum Gripper use a Pressure air for vacum The
Workpieces and Placing the Workpieces. In the Metodology will explain for Palyload of
Gripper.

3.3 Close Loop Chart

3.4 Process Algorithm

CHAPTER IV
METHODOLOGY
4.0 Project Methodology
In completing this Project for Choosing Industrys Robot Pick and Place, are used
Several The best Method or The Best Step and Systematic Thinking. Every Step will Connect
to other Step until to get a judgment.
Here , The Flow of Methodology is Designed with The Best Method and The best
Systematic Thingking. The Following is Methodology for Choosing Industrys Robot Pick
and Place .
4.1 Analysis for Motion Robot

Before make Analysis for timing , Need a Good

Robots Analysis kinematic and Dinamic Motion.
The Following is Explain Motion Robot :
1. 0-2 = Robot pick the workpieces From Box
0-1 = Puller pull the Workpieces from Below
2. 0-3 = Robot Move the workpieces to Dies 1
3. 0-5 = Dies machine1 is Working
3-0 = simultaneously Robot is Moving Back
4. 5-0 = Dies machine 1 is Opening
0-8 = Robot 2 Pick the Workpieces from Dies 1
5. 0-6 = Robot Move the Workpieces to Dies 2
6. 0-4 = Dies 2 is Working
6-0 = Robot 2 is Moving Back
7. 4-0 = Dies 2 is Opening
8. 0-7 = The Workpieces pull to conveyor.

4.2 Analysis for Timing Robot

After Analysis Motion has Made , Now Analysis Timing Robot can Make with to do
Develope from Result the Analysis Motion . The Easy Step for Analysis Timing Robot with
to make Table of Timing Robot and Make asumming about time per motion or use the
simulation robot from Manufacture Robotics. The Following is Table of Timing Robot for
Production Body ToolBox :

According Table timing Robot Above , Cycle time for make body Toolbox for 1
Cycle is 23,8 Second/Pieces .

4.3 Analysis for Payload and distance

4.3.1 Payload
Payload is equal from Weight of Workpieces Plus Weight of Gripper. It is
The Important Factor before Select Corresponding Robot. Calculate the payload use
Applied formula . Formula is :
xv

m=

) +W)x Sf

Information :
m

= Payload Robot [kg]

= Density of Material Workpieces [kg/m3]

= Volume the Workpieces [m3]

Sf

= Safety Factor use value 1,2

Volume and density of workpieces is 0,0003777 m3 and 7810 [kg/m3], Weight

of Gripper is 1,4 [kg] so, With use Formula Above, Requirment Payload for Selection
Robot is 5,23 [kg], for adapt to Payload Standart value of Calculate Payload is
Increased to Standart Payload , 6 [kg].
4.3.2 Distance
Distance Motion Robot is The Important Factor number 2 after Payload,
Because If the Requirment Payload is Enough than Distance is not Enough, the robot
can not be Used well.

Analysis From Picture above, is Known that distance From center of Robot to
Both the machines is Same or Similar . it is 1250 [mm] ~ 1,25 [m] . It is Mean
Selection Arm Robot with distance 1,25 [m].
4.4 Selection The Arm Robot
After all data has been Complete, Now Selection robot according all data is Collected.
To facilitate Selection for Robot, Make the Table about All data are Collected . The
Following is a Table of Data for selection Robot :

Environment Robot can find at the Specification Robot, IP it is Mean Ingress

Protection , 6 it is mean about Level for Solid Protection and 5 it is mean about Level for
Liquids Protection . The Following Is Table of Ingress Protection .

Gripper is a Holder at Robot . the requirement Gripper for Plate Of Workpieces is

Vacuum , 60 % Vacuum at The Gripper it is Mean that Power vacuum of Gripper is 0,6 x 101
Kpa (Atm Pressure) x Area Vacum. If Area Vacuum 120 x 120 it is mean Power of Gripper
is 900 [Kg] and it can be Applied for Requirement Payload 5,28 [kg]. The Following is
Specification and Design Gripper is Selected :

Finnaly, YASKAWA MOTOMAN MH6F is Selected for Robot Pick and Place
Production Body Tool box, Because Their Specification Enough and Simillar for All
Requirement data . The Following is Specification and Design for Yaskawa Motoman :

CHAPTER I
INTRODUCTION
1. 0 Introduction
Robot is Smart Agent Tool from Result of

Synergy between Mechanical and

Electronical Engineering. Mechanical Engineering can Explain and to Calculate About how
to make a Robot is moving , while Eletronical Engineering can Explaine and Calculate about
How to make a Automation Moving with Command is Programme with Value of Biner.
There are 4 the main Part of Robot . it is Actuator, Power supply, Microcontroller
and Sensor. Actuator is a type of motor that is responsible for moving or controlling a
mechanism or system, Powersupply is Source of Energy is flowed to Part Part so they are can
connection well, Sensor is a tool Give a feedback to the Microcontroller and Microcontroller
is Brain of Integrate All Part so Connected well .
Now Robot is Often used by Industry for cover up limitation of Operator Skill For
Speed, and Accuration . with Robot all activity manufacture can be Fast and Level of Failure
is Descreasing. Kind of Robot is seen from Fungtion has developed to Industrial sector . The
following is Kind of Develope Robot is seen from Fungtion :
1. Part Transfer (Pick and place)
This is the Process to move The Workpieces From a Place to Other Place or Pick
the workpieces, Move and Place the workpieces.
2. Welding
This is the Process to joining 2 part together .
3. Material Handling
for handling the Material when Processing Manufature.
4. Assembly
This is Process Arrangement of Part and Joining Of Part .
5. Truck load and Unload
For Pick the Workpieces From and to Truck.

And In here , will be Explained about How to selection Robot Place and Pick for
Processing Manufacture of Body Tool Box .

1.1 Problem Statement

Manufacture activity at Industrial Area always do mass production, the condition for
Operators are Problem because it can tire for Operators. In Production Body Tool Box,
Operator often Use more Time to Pressing Plat.

It is Limitation of Operators Skill for

Industry must be Gived Solution About it .

Limitation of Operators Skill influential for industry. There are More Effect of
Limitation skill for Industry such as Productivity, Quality Of Product , Cost of Employee, and
Timing for Production. The Following is explain Effect of Limitation skill for industry :
1. Productivity
Mass production at Industrial area can make operator work continously, the
Effect is operator will Tired and Increase Accident in Working Place.
2. Quality Of Product
Because Operator is tired, Result of Quality of Product is Descrease it is
Caused control of Visual or Skill operator has been Descrease.
3. Cost of Employee
To avoid exhausted the operator, Industry will Increase capacity of Operator
and it can Increase Cost of Empolyee.
4. Timing Of Production
Time is The Important factor for consumens Satisfaction. Speed is Factor
Number 1 which influence of Time . and Speed included

of Limitation of

Operators Skill . If Process production does not use Automation Tool or Have not
Solution timing of Production always will be Late .
1.2 Project Objective
Solution for Problem of Industrial is A automation system for cover up Limitation of
Operators Skill . Robot is A Automation System and can cover up it . problem Speed and
Accuration can Fix if Industial sector use Robotic System .
Robotic System must be choosed with a Good and Right methods . so that robot could
be used by the good and the right also . in process production Body tool Box can be used
robot with type pick and place . the following is Object of This Project :

To Study and Learn contruction of Arm robot Design .

To Study and Learn to choosing Robot for the Condition.

To Develope of Layout Production if use the Robot

To Analisys Timing of Robot
To Analisys Gripper Design
To Analysis effeciency of Robot is Compared to Man.

1.2 Project Scope

The Basic of Selection of Pick and Place Robot is needed to Analysis about Line,
Timing , Payload and Distance. And All Analysis must to have connection well .

As A Result of this Project, The Arm Robot Pick and Place can fill Requirement of
Distance and Payload .

ABSTRACTS