University of Malta Robotics and Industrial Automation Laboratory Department of Industrial and Manufacturing Engineering, University of Malta

UOM Robotics and Industrial Automation Laboratory

University of Malta Robotics and Industrial Automation Laboratory Department of Industrial and Manufacturing Engineering, University of Malta

RIAL Mission

o to be a Centre of Excellence in Malta for research, development, teaching and outreach in the broad areas of Robotics and of Industrial Automation

o to make contributions to the international community in niche areas of Robotics and of Manufacturing Automation

University of Malta Robotics and Industrial Automation Laboratory Department of Industrial and Manufacturing Engineering, University of Malta

RIAL Facilities

o Mitsubishi RV-6SL 6-DOF revolute industrial robot, 91cm reach, 6kg payload, with controller upgrade, tracking card, and adjustable gripper, or vacuum gripper. Mounted on a highly reconfigurable table.

o Epson E2S651S 4-DOF SCARA robot, 65cm reach, 5kg payload

o PUMA 260 6-DOF robot, 40cm reach, 1kg payload o Two Cognex/DVT smart image sensors (machine vision) o Six Mitsubishi FX1N-24 PLCs o Two flat belt conveyors (one with variable speed) o Machine vision lighting (ring light, strobe) o Other sundry equipment, components and tools

University of Malta Robotics and Industrial Automation Laboratory Department of Industrial and Manufacturing Engineering, University of Malta

RIAL Research

Two major themes:

o Versatile grippers and dexterous robot hands

slip sensing project; HAND project; various FYPs

o Manufacturing Automation

AUTOMATE project; various FYPs;

Collaboration with local industry

University of Malta Robotics and Industrial Automation Laboratory Department of Industrial and Manufacturing Engineering, University of Malta

The IAL Versatile Gripper

3 fingers

9 links, 1 DOF

Stepper motor

Remote actuation

Tendon transmission

Fingertip force, palm

proximity sensors

offline adjustable finger

orientations

University of Malta Robotics and Industrial Automation Laboratory Department of Industrial and Manufacturing Engineering, University of Malta

The IAL Material Transfer System

PUMA 260 Robot

DVT SmartImage Sensor

IAL Versatile Gripper

Conveyor, equipped with

photoelectric proximity sensors

PC (controller)

University of Malta Robotics and Industrial Automation Laboratory Department of Industrial and Manufacturing Engineering, University of Malta

The IAL Anthropomorphic Hand – Model 1

2 fingers + thumb

2 coupled links per finger

wrist pitch and roll

5 DOF

DC motors

Remote actuation

Tendon transmission

Tele-operated

University of Malta Robotics and Industrial Automation Laboratory Department of Industrial and Manufacturing Engineering, University of Malta

The IAL Anthropomorphic Hand – Model 2

Exo-skeletal design

3 fingers + thumb

3 joints per finger

human-like flexion motion

8 DOF

DC motors

Tendon transmission

Position and force sensing

Remote actuation and

sensing

University of Malta Robotics and Industrial Automation Laboratory Department of Industrial and Manufacturing Engineering, University of Malta

The IAL Integrated Finger

4 joints, 3 DOF

miniature DC motors

full kinematic solutions

University of Malta Robotics and Industrial Automation Laboratory Department of Industrial and Manufacturing Engineering, University of Malta

Slip Sensing and Force Control

W

F

Strain gauge(s)

Primary contact

Top attachment

Bottom attachment

Secondary contact

Finger skeleton

Rubber skin

Object

Novel sensor, to detect

incipient object slip

full analysis, experimental

validation and simulation

University of Malta Robotics and Industrial Automation Laboratory Department of Industrial and Manufacturing Engineering, University of Malta

The IAL Glove Input Device

2 fingers + thumb data

Wrist pitch and roll data

Linear potentiometers and

flexible bands

Linear output

Good resolution and repeatability

Can fit hands of different sizes

University of Malta Robotics and Industrial Automation Laboratory Department of Industrial and Manufacturing Engineering, University of Malta

The RIAL Haptic Glove Data input from finger and

thumb MCP and PIP joints

Development of a MRF

actuator

Force feedback to joints of

middle finger

University of Malta Robotics and Industrial Automation Laboratory Department of Industrial and Manufacturing Engineering, University of Malta

Dexterity Studies

Optimization of anthropomorphic robot hand design through human manual dexterity testing

University of Malta Robotics and Industrial Automation Laboratory Department of Industrial and Manufacturing Engineering, University of Malta

Reporting and Test Standards

University of Malta Robotics and Industrial Automation Laboratory Department of Industrial and Manufacturing Engineering, University of Malta

Industrial Automation Projects

University of Malta Robotics and Industrial Automation Laboratory Department of Industrial and Manufacturing Engineering, University of Malta

Industrial Automation in Malta

Comprehensive survey on the use, perceptions and problems associated with automation

70 local respondents

University of Malta Robotics and Industrial Automation Laboratory Department of Industrial and Manufacturing Engineering, University of Malta

Reconfigurable Automation

A new model for the development of reconfigurable automation systems for high added-value manufacturing

Development of a versatile manufacturing automation test bed, highly reconfigurable to cater for different sectors

Implementation of model and test bed to three industrial test cases

Development of industrial automation guidelines

University of Malta Robotics and Industrial Automation Laboratory Department of Industrial and Manufacturing Engineering, University of Malta

Thank you