Vibration Analysis and Direct Control of XY Table Automated Assembly Machines

XY table automated assembly machines ensure time saving and quality improving in the electronics industry. Recently, due to the need of higher operation speeds and lighter machines in PCB （Printed Circuit Board） assembly, a challenging problem has arisen which is the table positioning vibration. The high speed with the machine flexibility, make the positioning vibration inevitable although the inner control. The positioning vibration is to be reduced otherwise the machine becomes useless. Firstly, the machine is modeled, the positioning vibration is formulated, and then analyzed. Secondly, using the analysis, three direct control methods are identified to decrease the positioning vibration, they are based on the kinematics, dynamics, and operation of the machine. Thirdly, the methods are examined numerically to evaluate their efficiency. Lastly, the identified methods are discussed to conclude on their application. The results are a real contribution in the vibration control of XY table automated assembly machines, which is classified as industrial knowhow.

Design, Fabrication and Experimentation of a Deep Drawing Machine

This paper presents the work implemented in designing, fabricating and operating a model of a cheap hydraulic DDM （deep drawing machine）, which is currently utilized in the manufacturing processes lab in the IED （Industrial Engineering Department） at An-Najah National University. The machine is used to conduct different experiments related to the deep drawing process. This work was implemented in three stages： the first was the design stage, in which all design calculations of the DDM elements were completed based on the specifications of the product （cup） to be drawn; the second was the construction stage, in which the DDM elements were fabricated and assembled at the engineering workshops of the university; the last was the operating and experimentation stage, in which the DDM was tested by conducting different experiments. The experience gained from designing and constructing such a mechanical lab equipment was found to be successful in terms of obtaining practical results that agree with those available in literature, cost-effective relative to the cost of a similar purchased equipment, as well as enhancing students＇ abilities in understanding the deep drawing process in particular and machine elements design concepts in general.

Implementation of a new PC based controller for a PUMA robot

This paper describes the replacement of a controller for a programmable universal machine for assembly (PUMA) 512 robot with a newly designed PC based (open architecture) controller employing a real-time direct control of six joints. The original structure of the PUMA robot is retained. The hardware of the new controller includes such in-house designed parts as pulse width modulation (PWM) amplifiers, digital and analog controllers, I/O cards, signal conditioner cards, and 16-bit A/D and D/A boards. An Intel Pentium IV industrial computer is used as the central controller. The control software is implemented using VC++ programming language. The trajectory tracking performance of all six joints is tested at varying velocities. Experimental results show that it is feasible to implement the suggested open architecture platform for PUMA 500 series robots through the software routines running on a PC. By assembling controller from off-the-shell hardware and software components, the benefits of reduced and improved robustness have been realized.