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In the global wave of automation, logistics and manufacturing are indispensable and important industries. Among them, the related automatic warehousing system is even more urgently needed. There are quite a few cases of using robotic arms in the current industry cargo stacking operations. Traditional operations require engineers to plan the stackin...
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![Typical AS/RS structure and its components [5].](publication/357228349/figure/fig1/AS:11431281387720949@1745143527865/Typical-AS-RS-structure-and-its-components-5_Q320.jpg)
Automated storage and retrieval systems (AS/RS) play a key role in improving the performance of automated manufacturing systems, warehouses, and distribution centers. In the modern manufacturing industry, the term (AS/RS) refers to various methods under computer control for storing and retrieving loads automatically from defined storage locations....
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... Berbagai jenis palletizer digunakan, beberapa jenis utamanya adalah gantry, cartesian, dan sperichal. Robot gantry disebut sebagai bentuk khusus dari robot cartesian, yang menggunakan dua sumbu X. Sumbu tambahan digunakan untuk memungkinkan robot menangani beban dan gaya yang lebih besar dengan membagi beban di antara dua sumbu tanah, sehingga robot ini dianggap ideal untuk mengambil dan meletakkan muatan berat atau memuat dan membongkar komponen [8], [9]. Robot palletizer carton box digunakan untuk menyusun boks pada posisi yang ditentukan sesuai dengan pola tertentu, sehingga penyimpanan, penanganan, bongkar muat, transportasi, dan kegiatan logistik lainnya dari carton box dapat terwujud [10], [11]. ...
Analisis kekuatan pada proyek Palletizer yang dirancang oleh PT. Y telah dilakukan untuk memastikan konstruksi frame Palletizer dapat menahan beban operasional dan memenuhi faktor keamanan dinamis dengan menggunakan material ST 37. Metode Perhitungan Analitis dan Metode Elemen Hingga digunakan untuk menganalisis berbagai posisi pembebanan pada frame Palletizer, di mana tegangan maksimum ditemukan pada titik A2 dengan nilai 8,947 MPa yang lebih kecil dari tegangan ijin sebesar 123,33 MPa. Defleksi maksimum terbesar terjadi pada titik A1 dan A2 dengan nilai sebesar 0,231 mm. Hasil analisis menunjukkan bahwa frame Palletizer memenuhi semua kriteria dari segi faktor keamanan, stabilitas, dan defleksi. Berdasarkan analisis ini, dapat disimpulkan bahwa desain frame Palletizer memiliki kemampuan yang cukup untuk menahan beban operasional yang diberikan. Penggunaan material ST 37 terbukti sesuai untuk aplikasi ini karena memenuhi semua persyaratan kekuatan dan keamanan. Selanjutnya, dilakukan verifikasi tambahan untuk memastikan bahwa kriteria desain lainnya juga terpenuhi. Proyek ini diharapkan dapat meningkatkan efisiensi dan keselamatan dalam proses pemindahan barang.
... The literature suggests depalletizing systems are designed mainly to extract items from homogeneous pallets. Such is the case of the algorithm developed by [6], which was designed to stack packages in a staggered arrangement to ensure structural stability. Chiaravalli in [7] proposed a solution that employs a multisensor vision system and a force-controlled collaborative robot to detect the boxes on the pallet. ...
Automated depalletizing systems aim to offer continuous and efficient operation in warehouse logistics, reducing cycle times and contributing to worker safety. However, most commercially available depalletizing solutions are designed primarily for highly homogeneous cargo arranged in orthogonal configurations. This paper presents a real-time approach for depalletizing heterogeneous pallets with boxes of varying sizes and arbitrary orientations, including configurations where the topmost surfaces of boxes are not necessarily parallel to each other. To accomplish this, we propose an algorithm that leverages deep learning-based machine vision to determine the size, position, and orientation of boxes relative to the horizontal plane of a robot arm from sparse depth data. Using this information, we implement a path planning method that generates collision-free trajectories to enable precise box grasping and placement onto a production line. Validation through both simulated and real-world experiments demonstrates the feasibility and accuracy of this approach in complex industrial settings, highlighting potential improvements in the efficiency and adaptability of automated depalletizing systems.
... The main contribution of this work lies in developing practical implementation details of the MDM method, which have not been reported since its proposition. When evaluated in perspective to other works that have addressed palletizer design [e.g., [14][15][16], this paper brings an economic and market standpoint, complementary to the engineering point of view traditionally adopted by machine manufacturers. ...
... This strategy overcomes the profit limitation in favoring the configuration of higher volume variants rather than most contributive ones, which has to do with the fact that throughput does not consider the fixed costs and apportionment [68]. dp 14 : Sheet hopper dp 1 : Package accumulation conveyor dp 4 : Package singulation conveyor dp 3 : Package turner dp 2 : Package break conveyor dp 5 : Package reader dp 6 : Pick and place dp 7 : End effector dp 15 : Sheet dispenser dp 8 : Pallet hopper dp 9 : Pallet dispenser dp 11 : Pallet/load shuttle car dp 10 : Pallet station dp 12 : Load discharge conveyor dp 13 : Load turntable dp 16 : Stretch wrapper dp 17 : Load labeler Fig. 6 Example of the geometric layout Table 7 Physical modules dp7 dp6 dp15 dp8 dp9 dp4 dp3 dp1 dp2 dp16 dp10 dp11 dp12 dp13 dp14 dp17 dp5 End-effector dp7 The MDM provides an open architecture of techniques, and depending on which one is used in the configuration process; it is possible to obtain optimal solutions. Besides the techniques, the MDM outcomes are also influenced by the parameters and variables making up the configuration model. ...
Designing product families is an enabling strategy for mass customization. In general, there are four prevalent classes of problems when designing product families: (i) product family positioning; (ii) customer preferences modeling; (iii) product family modeling; and (iv) product family configuration. Although these classes are interwoven through design problems stemming from marketing, engineering, and economic areas, they are rarely handled together in product family design methods. The lack of a systemic, integrated design perspective may lead to locally optimal solutions and ultimately result in product families not making the economic benefits of customization worthwhile. Over the years, some methods have attempted to overcome this absence of holistic design view. However, because they are restricted to theoretical levels or lack detailed applications, their practical implementation is often not possible. To bridge the pathway between theory and practical implementation, this paper uses the market-driven modularity (MDM) method to design a family of autonomous mobile palletizers economically oriented to market requirements. The empirical application of the method points out the palletizers family as being economically feasible. Furthermore, it also indicates which modules should be developed in successive design phases, as well as reveal the definition of the product family structure as the MDM’s outcome that is more sensitive to the variation of parameters/variables composing the configuration model. The main contribution of this work lies in the presentation of practical implementation details of the MDM method, which, to the best of our knowledge, has not been reported since its proposition.
With all the changes taking place at the industrial level, the success of organizations most often depends on updating their production lines and produc-tion methods. The integration of robotized systems allows for a significant increase in the quality of end products and a considerable reduction in production time when compared to manual processes. Repetitive tasks or those that depend on the phys-ical capacity of workers have been replaced by robotic cells, which socially bring advantages within organizations, allowing for a more ergonomic and productive working environment. The aim of this work is to present the development of an end-effector system that, coupled to a robotic arm, can be integrated into a produc-tion line, capable of handling different types of cardboard boxes and europallets during palletizing. In the development of this mechanism, it was decided to incor-porate different mechanical components, carrying out an in-depth study of them in order to obtain a functional piece of equipment capable of performing multiple tasks.
