DESIGN AND SIMULATION OF A DUAL-ARM ROBOT FOR MANUFACTURING OPERATIONS IN THE RAILCAR INDUSTRY, 434-447.
Ilesanmi Daniyan,∗ Khumbulani Mpofu,∗ Felix Ale,∗∗ and Moses Oyesola∗
Keywords
ANFIS, assembly operations, FIR, railcar, robotic solution∗ Department of Industrial Engineering, Tshwane Universityof Technology, Pretoria 0001, South Africa; e-mail: [email protected], [email protected], [email protected]∗∗ Department of Engineering and Space Systems, National SpaceResearch and Development Agency, Abuja, Nigeria; e-mail:[email protected] author: Ilesanmi Daniyan
Abstract
The development of robotic solutions for manufacturing operations
of a railcar and intelligent coordination of the entire system will
increase the productivity of the entire manufacturing process. In
this work, a 16-axis dual-arm robot fitted with intelligent system
for the handling, machining, assembly and inspection operations
during railcar manufacturing was proposed. The system comprises
a specially designed end effector manipulator for performing the
manufacturing operations during railcar development. The mea-
surement of the process conditions and collection of data, as well as
the monitoring, diagnosis and efficient communication of the process
conditions, in real time is made possible with the aid of the smart
sensors fitted into the robotic arm. The Solidworks 2017 version
was employed for the computer-aided design and the finite element
analysis of the robotic arm, while the simulation was done with
the aid of the adaptive neuro-fuzzy interference system and the
neuro-adaptive learning in a MATLAB 2018b environment. This
was performed for determining performance of the robotic arm in a
virtual environment most especially the path planning operation and
the kinematic motion of the robotic arm. Results obtained from the
simulation indicate that the robotic arm can operate smoothly with
a mix of strength and flexibility. Hence, it is suitable for handling,
machining and assembly operations during railcar manufacturing
with high operational efficiency.
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