Development of a robust communication and control platform between a 5-axis CNC machine and a mobile tele-operated collaborative robot

Abstract

This work is a contribution for development of the ongoing fourth industrial revolution. Developing of cyberphysical systems brings new challenges to industrial networks. They have to be more reliable and flexible than ever. It is a case study of the project that integrates several machines in a mechatronic system. The main emphasis is on the system design. However, other aspects are discussed, such as mechanical design and component choice. Components of the studied system are a machining center, a mobile manipulator and a central control unit with additional devices. They are interconnected in one system with industrial network. Topology design and used industrial protocols are discussed in detail. The general system algorithm is developed. Calculations are made to ensure proper component choice, and mechanical design is made for mobile robot frame and other components. This work helped to acquire know-how in modular mechatronic system utilizing mobile manipulator in industrial automation.