Rapid Estimation of Operation Times for Robotic Assembly

Abstract

This paper deals with the problem of estimating the time required for robotic assembly operations. Numerical data are presented for the FANUC A-Model 1 cylindrical geometry robot in four-axis form. The assumed end effector is a gripper which can be “indexed” through a right angle from vertical to horizontal. Starting with the simplest “pick-and-place” operation, further actions are added so as to develop a repertoire of 32 predefined operations. Using a probabilistic method, the expected time for each operation is then calculated. Certain aspects of the parts to be handled must be known, but it is not necessary to know in detail the design of the work-station of which the robot is a member. The method is intended for initial assessments of line balance, line output, and assembly costs.