A hierarchically controlled, sensory interactive robot in the automated manufacturing research facility

an e x p e r i m e n t a l f a c t o r y c a l l e d t h e Automated Manufacturing Research F a c i l i t y (AMRF'). The AMRF w i l l operate as a s m a l l batch machine shop and i s c u r r e n t l y c o n f i g u r e d with t h r e e machining w o r k s t a t i o n s , a c l e a n i n g and deburring w o r k s t a t i o n and an i n s p e c t i o n w o r k s t a t i o n. Each o f t h e s e w o r k s t a t i o n s w i l l employ r o b o t i c m a t e r i a l handling i n c l u d i n g machine l o a d i n g and unloading. A t p r e s e n t each w o r k s t a t i o n i s a t a d i f f e r e n t stage o f completion. The " H o r i z o n t a l W o r k s t a t i o n " which c o n t a i n s a h o r i z o n t a l-s p i n d l e N.C. machine t o o l and one m a t e r i a l handling r o b o t has been c o m p l e t e l y i n t e g r a t e d. The m a t e r i a l handling r o b o t i s a C i n c i n n a t i M i l a c r o n T3 (h y d r a u l i c) which has been enhanced t o meet t h e r e q u i r …