Development and simulation of an algorithm of assemble of parts for an industrial robot arm

Abstract

The beginning of the era of industrial robotics dates from the mid-twentieth century, but it is in this last time that they have become technologies of great value for the performance of automatic tasks in production processes. Particularly, within the wide variety of industrial robots, there are robot arms that serve to perform tasks of great precision such as the assembly of parts.
A robot arm ABB IRB 120 (UTN-FRRa) will be used in this work in a workstation where there are 3 different types of pieces that produce a final product. The pieces are located in storage tanks of different types and depending on the order requested by the customer, the robot performs the programmed movements to assemble the required product. The logic diagram of the algorithm developed to form the pieces and an individual time study to estimate production are presented as results.