Design and Development of Multipurpose Automatic Material Handling Robot with implementation of Virtual Twin, Digital Manufacturing and Model based system engineering.
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The document describes the design and development of a multipurpose automatic material handling robot. It aims to overcome logistics problems in warehouses and workplaces using a system-thinking approach. A scissor lift design is implemented to lift the robot's gripper assembly. Digital tools like factory flow simulation and virtual reality are used to simulate the robot's functioning in a virtual warehouse environment. Calculations are shown for dimensions of the scissor lift and robot. The robot is designed to efficiently handle materials in warehouses and improve inventory tracking and management.
![International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056
Volume: 10 Issue: 04 | Apr 2023 www.irjet.net p-ISSN: 2395-0072
© 2023, IRJET | Impact Factor value: 8.226 | ISO 9001:2008 Certified Journal | Page 451
Fig -11: Our MAMHR cad model for warehouse
automation (image 2)
These images show our cad model in a realistic world
rendered using 3DExperience native application. These
Rendered images illustrate virtual reality appearance of
MAMHR robot in warehouse environment.
ACKNOWLEDGEMENT
Special thanks to La Fondation Dassault Systemes for
seeding the idea ,guiding, mentoring and providing financial
support.
We would like to express our special thanks to Mr. Hemant
Gadgil, Mr. Praveen Bhagoji, Mr. Biswajyoti Shome, Mr.
Vineet Gaba, Mr. Anshuman Singh & Mr. Varad Gole for their
valuable guidance during this research work.
3. CONCLUSIONS
As we know that the day-by-day demand and operations of
E-commerce systems and increasing post pandemic. To
tackle this increasing demand with higher output,
operational flexibility, lesser human interaction and in cost
effective manner. Hence the product we developed is the
best solution for logistics and supply chain (warehouse)
automation with least possible cost than other systems. This
product involves plenty of research areas and future scopes
and advancement as looking after the increasing demand.
REFERENCES
[1] https://www.mordorintelligence.com/industry-
reports/automated-material-handling-market
[2] https://www.databridgemarketresearch.com/reports/g
lobal-material-handling-robotics-market
[3] https://en.wikipedia.org/wiki/Linear_actuatorK.Elissa,
“Title of paper if known,” unpublished.
[4] https://en.wikipedia.org/wiki/Model-
based_systems_engineering
BIOGRAPHIES
Samadhan Bhavar
BE scholar in Mechanical
Engineering Department of PVG’S
COET, Pune.
E-mail: smbhavar01@gmail.com
Nikhil Koshti
BE scholar in Mechanical
Engineering Department of PVG’S
COET, Pune.
E-mail:
koshtinikhil073@gmail.com
Shantanu Kulkarni
BE scholar in Mechanical
Engineering Department of PVG’S
COET, Pune.
E-mail: kshantanu324@gmail.com
Prof. Vishal Chavan
Professor in Mechanical
Engineering Department of PVG’S
COET, Pune.
E-mail: vsc_mech@pvgcoet.ac.in](https://image.slidesharecdn.com/irjet-v10i465-230610122339-1590f566/85/Design-and-Development-of-Multipurpose-Automatic-Material-Handling-Robot-with-implementation-of-Virtual-Twin-Digital-Manufacturing-and-Model-based-system-engineering-4-320.jpg)
Design and Development of Multipurpose Automatic Material Handling Robot with implementation of Virtual Twin, Digital Manufacturing and Model based system engineering.
- 1. International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056 Volume: 10 Issue: 04 | Apr 2023 www.irjet.net p-ISSN: 2395-0072 © 2023, IRJET | Impact Factor value: 8.226 | ISO 9001:2008 Certified Journal | Page 448 Design and Development of Multipurpose Automatic Material Handling Robot with implementation of Virtual Twin, Digital Manufacturing and Model based system engineering. Samadhan Bhavar1, Nikhil Koshti2, Shantanu Kulkarni3, Vishal Chavan4 1Student, Dept of Mechanical Engineering, PVG’s COET PUNE, Maharashtra, India 2Student, Dept of Mechanical Engineering, PVG’s COET PUNE, Maharashtra, India 3Student, Dept of Mechanical Engineering, PVG’s COET PUNE, Maharashtra, India 4Professor, Dept of Mechanical Engineering, PVG’s COET PUNE, Maharashtra, India ---------------------------------------------------------------------***--------------------------------------------------------------------- Abstract – This paper deals with the Design and development of multipurpose automatic material handling robot to overcome the logistic problem thatoftenoccursinthe warehouse automation, workplacesandmake improvementto the facilities provided in the workplaces. Make efficient processes by enhancing material handling and inventory tracking and management process. Using system-thinking approach (MBSE), design and optimize the system and subsystem required for the automaticmaterialhandlingrobot considering interaction between systems, sub-systems and external environment within the workplace. Development of system to complement different functions of navigation, deployment, operational flexibility, responsiveness. Key Words: System Engineering (MBSE), Factory flow simulation, Digital Manufacturing, Virtual reality, Logistics, Kinematic simulation, Wire harness, Process Planning. 1. INTRODUCTION This project emphasises use of logistic behaviour and complete digital manufacturingtoimplementthesesolutions in warehouse automation. Anautonomous material handling robot is a system that uses on-board sensors and processors to move boxes without the need of human assistance or markers. It understands its surroundings, remembers its path, and dynamically plans its own path fromone waypoint to another. The primary stakeholders or users would be manufacturing facilities, which requires material movement in and between different stations and lines. The potential target industry would be the logistics and supply chain (warehouse), where material movement activities, storage and retrieval after predominant work activities and in other workplaces where material movement activities are prevalent. Fig -1: Global Material Handling Market Share Analysis Fig -2: Multipurpose automatic material handling robot (MAMHR) 1.1 Actual model for MAMHR We implemented the MBSE (model based system engineering) in order to build the complex product by distributing it into several sub-systems. We considered the scissor lift based model forcurrent development.Thescissor lift uplifts the complete gripper and object detection assembly at required height of racks in the warehouse environment. As box is detected using image processing and live video feed then the gripper starts reaching out near the box and held it firmly by linear actuator mechanism. While differential wheel drive maneuvering thecompletesystemat required locations using path detection. The LIDAR,
- 2. International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056 Volume: 10 Issue: 04 | Apr 2023 www.irjet.net p-ISSN: 2395-0072 © 2023, IRJET | Impact Factor value: 8.226 | ISO 9001:2008 Certified Journal | Page 449 ultrasonic sensor provides assistance to avoid collision with human and other co-operating MAMHR robot. 1.2 Linear Actuator and Gripper assembly A linear actuator is an instrument that provides motionin a straight line, by using the circular motion of a electric motor. An actuator receives a control signal andrespond toit by converting that signal into controllable mechanical energy. Fig -3: Linear Actuator with internal construction 1.3 Tools and Technology involved in Digital Manufacturing In order to develop, test, implement and verify the new product we have utilized the digital technology in order to make the design industry ready before introducing it to physical prototyping. 3DExperience platform has provided us the tool called factory flow simulationinordertosimulate the robot working in warehouse using virtual reality experience. Fig -4: Factory Flow simulation of MAMHR Fig -5: Virtual Reality of Warehouse Environment Above images are showing the virtual reality experience of complete product and its working using 3DExperience platform. In order to get perfect validation we have implemented the digital manufacturing and digital twin by using process planning. Process planning helps to analyse complete manufacturing processvirtuallyandprovidescope of modifications and gives complete schedule for manufacturing of product. Along with physical dimensions the electronic system and wire harness design is a crucial part to validate all functionality using DYMOLA behaviour and Electrical CATIA. We had designed and demonstrated the complete electronic system design and its algorithms successfully using 3DExperience tools. Fig -6: Digital Manufacturing & Heavy industry process planning Fig -7: Electrical system and wire harness design 2. CALCULATION FOR SCISSOR LIFT Scissor lift can be of standard dimension but in case of this model we have customize the dimensions according to required specifications. The Scissor lift upper and lower platform is of 600 x 500 x 70 (L * B * H) in mm. The scissor Links used are 8 in numbers to reach a height of 1.5-2m by using two linkages.
- 3. International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056 Volume: 10 Issue: 04 | Apr 2023 www.irjet.net p-ISSN: 2395-0072 © 2023, IRJET | Impact Factor value: 8.226 | ISO 9001:2008 Certified Journal | Page 450 2.1 Calculation for dimensions of scissor links Since we are using a mild steel for construction of scissor lift as it has greater durability, strength, easy and cheap availability. Dimensions of scissor link are 540 x 60 x 10 (L * B * H) in mm. For these dimensions of scissor link and lift the prototype model can lift a load of 5 to 7 kg using linear actuator assembly.Accordingtoliftheightneededandweight to be lifted the dimensions of scissor links are calculated. Fig -8: Scissor Lift with actuation Fig -9: Forces acting on scissor links 2.1 Calculation of AGV dimensions This product will be working in a warehouse automation where frequent operations are needed in close proximity space. In order to accommodate space issue, torque and maximum speed of vehicle and operational flexibility the dimensions of MHR robot is kept as 600 x 500 x 300 mm (L*B*H). Table -1: MAMHR Specifications General specifications of MAMHR AGV Dimensions 600*500*600 mm Scissor lift Extended Height 2 to 2.5 m (possible) Maximum AGV speed 2 m/s Total Vehicle weight 40-50 kg Wheel motor torque 45 Nm Battery Backup 4.5-5 Hours in Dynamic operation The above table shows generalizedspecificationsofMAMHR. These specifications are suitable for AGV robot to work efficiently in warehouse working environment. Chart -1: Material Handling robot market size This chart shows how the equipment market size of the material handling robot is increasing day by day in a rapid manner. By considering the market scenario this product is helping out in order to automate material handling in warehouses. Fig -10: Our MAMHR cad model for warehouse automation (image 1)
- 4. International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056 Volume: 10 Issue: 04 | Apr 2023 www.irjet.net p-ISSN: 2395-0072 © 2023, IRJET | Impact Factor value: 8.226 | ISO 9001:2008 Certified Journal | Page 451 Fig -11: Our MAMHR cad model for warehouse automation (image 2) These images show our cad model in a realistic world rendered using 3DExperience native application. These Rendered images illustrate virtual reality appearance of MAMHR robot in warehouse environment. ACKNOWLEDGEMENT Special thanks to La Fondation Dassault Systemes for seeding the idea ,guiding, mentoring and providing financial support. We would like to express our special thanks to Mr. Hemant Gadgil, Mr. Praveen Bhagoji, Mr. Biswajyoti Shome, Mr. Vineet Gaba, Mr. Anshuman Singh & Mr. Varad Gole for their valuable guidance during this research work. 3. CONCLUSIONS As we know that the day-by-day demand and operations of E-commerce systems and increasing post pandemic. To tackle this increasing demand with higher output, operational flexibility, lesser human interaction and in cost effective manner. Hence the product we developed is the best solution for logistics and supply chain (warehouse) automation with least possible cost than other systems. This product involves plenty of research areas and future scopes and advancement as looking after the increasing demand. REFERENCES [1] https://www.mordorintelligence.com/industry- reports/automated-material-handling-market [2] https://www.databridgemarketresearch.com/reports/g lobal-material-handling-robotics-market [3] https://en.wikipedia.org/wiki/Linear_actuatorK.Elissa, “Title of paper if known,” unpublished. [4] https://en.wikipedia.org/wiki/Model- based_systems_engineering BIOGRAPHIES Samadhan Bhavar BE scholar in Mechanical Engineering Department of PVG’S COET, Pune. E-mail: smbhavar01@gmail.com Nikhil Koshti BE scholar in Mechanical Engineering Department of PVG’S COET, Pune. E-mail: koshtinikhil073@gmail.com Shantanu Kulkarni BE scholar in Mechanical Engineering Department of PVG’S COET, Pune. E-mail: kshantanu324@gmail.com Prof. Vishal Chavan Professor in Mechanical Engineering Department of PVG’S COET, Pune. E-mail: vsc_mech@pvgcoet.ac.in