Robotics Chapter 9 - Assembly Automation

Chapter 9
ASSEMBLY AUTOMATION
9.1 Automated Assembly Systems
Assembly involves the joining together of two or more separate parts to form new entity
which may be assembly or subassembly.
Automated assembly refers to the use of mechanized and automated devices to

perform the various functions in an assembly line or cell.
Automated assembly system performs a sequence of automated operations to

combine multiple components in to a single entity which can be a final product or
subassembly.
Automated assembly technology should be considered when the following

condition exists.
 High product demand
 Stable product design
 The assembly consists of no more than a limited number of components.
 The product is designed for automated assembly.
Automated assembly system involves less investment compared to transfer lines because:
1. Work part produced are smaller in size compared to transfer lines.
2. Assembly operations do not have the large mechanical forces and power
requirement
3. Size is very less compared to transfer lines.
9.2 Designs for Automated Assembly
Recommendations and principles that can be applied in product design to facilitate automated
assembly include:
1. Reduce the amount of assembly required: This principle can be realized during design by
combining functions within the same part that were previously accomplished by separate
components in the product. The use of plastic moulded parts to substitute for sheet metal
parts is an example of this principle. A more complex geometry moulded into a plastic part
might replace several metal parts.
Although the plastic part may seem to be more costly, the savings-in assembly time probably
justify the substitution in many cases.
2. Use modular design: In automated assembly, increasing the number of separate assembly
steps that are done by a single automated system will result in an increase in the downtime of
the system. To reduce this effect, Riley suggests that the design of the product be modular,
with perhaps each module requiring a maximum of 12 or 13 parts to be assembled on a single
assembly system. Also, the subassembly should be designed around a base part to which
other components are added.
3. Reduce the number of fasteners required: Instead of using separate screws and nuts, and
similar fasteners, design the fastening mechanism into the component design using snap fits
and similar features. Also, design the product modules so that several components are
fastened simultaneously rather than each component fastened separately.
4. Reduce the need for multiple components to lie handled at once: The preferred practice
in automated assembly machine design is to separate the operations at different stations rather
than to handle and fasten multiple components simultaneously at the same workstation. (It
should be noted that robotics technology is causing a rethinking of this practice since robots
can be programmed to perform more complex assembly tasks than a single station in a
mechanized assembly system.
5. Limit the required directions of access: This principle simply means that the number of
directions in which new components are added to the existing subassembly should be
minimized. If all of the components can be added vertically from above, this is the ideal
situation. Obviously, the design of the subassembly module determines this.
6. Require high quality in components: High performance of the automated assembly

system requires consistently good quality of the components that are added at each
workstation. Poor-quality components cause jams in the feeding and assembly mechanisms
which cause downtime in the automated system.
7. Implement hopperability: This is a term that is used to identify the ease with which a
given component can be fed and oriented reliably for delivery from the parts hopper to the
assembly workhead.
9.3 Types of Automated Assembly Systems
Based on the type of work transfer system that is used in the assembly system:
• Continuous transfer system
• Synchronous transfer system
• Asynchronous transfer system
• Stationary base part system
The first three types involve the same methods of workpart transport described in
automated flow line. In the stationary base part system, the base part to which the
other components are added is placed in a fixed location, where it remains during the
assembly work.
Based on physical configuration:

• Dial-type assembly machine
• In-line assembly machine
• Carousel assembly system
• Single-station assembly machine
a) Dial-type assembly machine

The dial-type machine, the base part is indexed around a circular table or dial. The
workstations are stationary and usually located around the outside periphery of the
dial. The parts ride on the rotating table and arc registered or positioned, in turn, at each
station a new component is added to base part. This type of equipment is often
referred to as an indexing machine or dial index machine and the configuration is shown
in Figure 1 and example of six station rotary shown in figure 9.1.
Figure 9.1 Rotary configuration
Figure 9.2 Example of 6 station rotary configuration for assembly
b) In-line type configuration

The in-line configuration assembly system consists of a sequence of workstations in a
more-or-less straight-line arrangement as shown in figure 9.3. An example of an in-line
transfer machine used for metal-cutting operations is illustrated in Figure 9.4. The in-line
assembly machine consists of a series of automatic workstations located along an in-line
transfer system. It is the automated version of the manual assembly line. Continuous,
synchronous, or asynchronous transfer systems can be used with the in-line configuration.
Figure 9.3 In-line configuration for assembly system
Figure 9.4 Example of 20 stations In-line configuration
Segmented In-line type

The segmented in-line configuration consists of two or more straight-line arrangement
which are usually perpendicular to each other with L-Shaped or U-shaped or Rectangular
shaped as shown in figure 9.5. The flow of work can take a few 90° turns, either for
workpieces reorientation, factory layout limitations, or other reasons, and still qualify as a
straight-line configuration.
Figure 9.5 L-shaped configuration

Figure 9.6 U-shaped configuration
Figure 9.7 Rectangular-shaped configuration
c) Carousel assembly system

It represents a hybrid between the circular flow of work provided by the dial assembly
machine and straight work flow of the in-line. It is as shown in the figure 9.8
Figure 9.8 Configuration of a carrousel assembly system
d) Single- station assembly machine

In the single-station assembly machine, the assembly operations are performed at a single
location (stationary base part system) as shown in figure 9.9. The typical operation involves
the placement of the base part at the workstation where various components are added to
the base. The components are delivered to the station by feeding mechanisms, and one or
more workheads perform the various assembly and fastening operations.
Figure 9.9 Single-station assembly machine
9.4 Parts Feeding Devices
In each of the configurations described above, a means of delivering the components to

the assembly workhead must be designed. In this section we discuss these devices
and their operation.
9.4.1 Elements of the parts delivery system

The hardware system that delivers components to the workhead in an automated
assembly system typically consists of the following elements as shown in figure 9.10.
Figure 9.10 Elements of parts delivery system
1) Hopper: This is the container into which the components are loaded at the workstation. A
separate hopper is used for each component type. The components are usually loaded into the
hopper in bulk. This means that the parts are randomly oriented initially in the hopper.
2) Parts feeder: This is a mechanism that removes the components from the hopper one at a
time for delivery to the assembly workhead. The hopper and parts feeder are often combined
into one operating mechanism. The vibratory bowl feeder, pictured in figure 9.11, is a very
common example of the hopper-feeder combination.
Figure 9.11 vibratory bowl feeder
3) Selector and/or orienteer: These elements of the delivery system establish the proper
orientation of the components for the assembly workhead. A selector is a device that acts as a
filter, permitting only parts that are in the correct orientation to pass through. Components
that are not properly oriented are rejected back into the hopper. An orientor is a device that
allows properly oriented pans to pass through but provides a reorientation of components that
are not properly oriented initially. Several selector and orientor schemes are illustrated in
Figure 9.12. Selector and orientor devices are often combined and incorporated into one
hopper-feeder system.
Figure 9.12 selector (a) and orientor (b)
4) Feed track: The preceding elements of the delivery system are usually located some
distance from the assembly workhead. A feed track is used to transfer the components from
the hopper and parts feeder to the location of the assembly workhead, maintaining proper
orientation of the parts during the transfer. There are two general categories of feed tracks:
gravity and powered. The gravity feed track is most common. In this type the hopper and
parts feeder are located at an elevation that is above the elevation of the workhead. The force
of gravity is used to deliver the components to the workhead. The powered feed track uses
vibratory action, air pressure, or other means to force the parts to travel along the feed track
toward the assembly workhead.
5) Escapement and placement devices: The purpose of the escapement device is to remove
components from the feed track at time intervals that are consistent with the cycle time of the
assembly workhead. The placement device physically places the component in the correct
location at the workstation for the assembly operation by the workhead. Several types of
escapement and placement devices are shown in Figure 9.13.
Figure 9.13 various escapement and placement devices
a) Horizontal placement device

Device used on dial-type assembly machines: parts move via horizontal delivery into
vacant nests on the dial, as they appear, from the feed track; meanwhile the circular
motion of the dial table means that the nests are revolved away from the feed track,
permitting the next component in the feed track to move into the next vacant nest, and
so forth.
b) Vertical placement device

Device used on dial-type assembly machines: here, the parts feeder is arranged
vertically above the dial table, so that when the table turns, to reveal an empty nest,
the component can fall by gravity from the feed track into the empty nest. Successive
parts fall by gravity to take up their position at the mouth of the feed track in turn.
c) Escapement device
This device is actuated by the top of the carrier contacting the lower surface of the
rivet-shaped part, causing its upper surface to press against the spring blade, which
releases the part so that it falls into the work carrier nest. The work carriers are moved
horizontally to cause the release of the part, and—after the first part has escaped—the
work carrier and released part move off, to be replaced by the next work carrier, and
so forth.
d) Pick and place mechanism

This mechanism uses a pick-and-place unit with a horizontal arm that may be
extended and retracted as necessary, so that parts may be removed from the feed
track, and placed into work carriers.

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Chapter 9

9.1 Automated Assembly Systems

Automated assembly refers to the use of mechanized and automated devices to

Automated assembly system performs a sequence of automated operations to

Automated assembly technology should be considered when the following

9.2 Designs for Automated Assembly

6. Require high quality in components: High performance of the automated assembly

9.3 Types of Automated Assembly Systems

Based on physical configuration:

a) Dial-type assembly machine

Figure 9.1 Rotary configuration

Figure 9.2 Example of 6 station rotary configuration for assembly

b) In-line type configuration

Figure 9.4 Example of 20 stations In-line configuration

Segmented In-line type

Figure 9.5 L-shaped configuration

Figure 9.7 Rectangular-shaped configuration

c) Carousel assembly system

Figure 9.8 Configuration of a carrousel assembly system

d) Single- station assembly machine

9.4 Parts Feeding Devices

In each of the configurations described above, a means of delivering the components to

9.4.1 Elements of the parts delivery system

Figure 9.10 Elements of parts delivery system

Figure 9.12 selector (a) and orientor (b)

Figure 9.13 various escapement and placement devices

a) Horizontal placement device

b) Vertical placement device

d) Pick and place mechanism

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