From: 2024-06-13 16:00 to 17:00
Place: Seminar Room M 3170-73 at Dept. of Automatic Control, LTH
Contact: bjorn [dot] olofsson [at] control [dot] lth [dot] se

Date & Time: June 13th, 16:00-17:00
Location: Seminar Room M 3170-73 at Dept. of Automatic Control, LTH
Author: Aslan Hamadi and Albin Magnusson
Title:  Automatic Robotic Dispensing and Cutting of Rubber Cable Into a Compression Molding Form
Supervisor: Björn Olofsson
Examiner: Yiannis Karayiannidis

Abstract:

Automation with the use of robotics is a crucial trend across industries, enhancing efficiency, safety, and quality while reducing manual labor and errors.

Alfa Laval, a leader in heat transfer, separation, and fluid handling, is embracing this trend by exploring how to solve labor-intensive processes like the production of rubber gaskets for gasketed plate heat exchangers (GPHE). The current manual process at Alfa Laval is labor-intensive and poses health risks due to exposure to potentially harmful fumes. This thesis explores the feasibility, design, and implementation of an automated compression molding system for rubber dispensing using an articulated robot arm to improve safety and effeciency. 

The thesis is structured to first provide a comprehensive background on the challenges of the manual process and the potential benefits of automation. It then details the methodology adopted for the project, including initial research, component selection, and iterative design of both hardware and software. The hardware section focuses on the development of the feeding and cutting mechanisms, while the software section outlines the control system designed to synchronize the robot’s movements with the rubber dispensing rate. 

Initial tests identified significant slippage in the rubber feeding mechanism, necessitating the integration of feedback control using an incremental encoder and a PI controller. This control system ensures the robot’s tool center point (TCP) velocity matches the rubber feed rate. Despite time constraints preventing full integration of all system components, results indicate potential for significant improvements in both safety and efficiency. The results of cable laying tests indicate that the developed method for laying cable is not feasible and that systems for holding the cable in place need to be developed. Future work should focus on refining the feedback control system and further testing under real production conditions. This approach aligns with industry trends towards automation, suggesting a viable path for Alfa Laval to enhance product quality and reduce operational costs.