ICAM Robotics System for Aerospace Batch Manufacturing--Task A; Technical Report AFWAL-TR-80-4042, Volume I, Final Report for Period September 1978 - March 1980 and ICAM Robotics Applications Guide AFWAL-TR-80-4042 Volume II

Two volume set. Volume I, 91 pages and Volume II, 210 pages (per DD Form 1473). Illustrations. Ink notations on spine. At the time this report was produced its distribution was limited to U.S. Government agencies and designated recipients only. Given the passage of time and advances in technology it is understood that this limitation no long applies. Volume I includes Foreword; Summary, Introduction, Assessment of Robotic Technology; Robotic Work Station; Work Cell; Work Cell Operating Scenario; and Conclusions. Also includes Appendix A.: Work Station/Cell Plan; and Social and Psychological Aspects of Production Robots at General Dynamics--Fort Worth. Also includes 29 black and white figures in the text. This final report details the accomplishments of Task A on meeting the objectives of the program. Results of the work cell along with an outline of limitations and constraints are also included in the report. The Robotics Application Guide was published as Volume II of this report. The Guide addressed Robot Configuration (manipulator hardware, controllers, and dynamic properties), Sensors, Tooling, Work Station Integration, and Safety Considerations. It provided References, Glossary of Terms, and an Index. The Guide provides an introduction to the basic concepts and techniques pertaining to the use of robotics technology for manufacturing and industrial application. The concepts of hierarchical control by computer-sensor systems is stressed. The hierarchical pattern of control is utilized to develop the work center concept from the robot, to the work station, the work cell, and the work center. Task A of the ICAM program,a "Robotics System for Aerospace Batch Manufacturing" was an 18 month effort with the major objective of early establishing of robot capability through immediate application using today's technology. Specified objectives to attain this were an assessment of robotic technology and publication of a Robotics Application Guide, the forming of a robotic work station for drilling and routing aircraft sheet metal panels on the factory floor, and the expansion of the work station into a fabrication cell for drilling and routing numerous aircraft sheet metal panels into a batch manufacturing environment. Both the work station and fabrication cell were to be demonstrated to the Air Force and Industry. The work station was demonstrated on 10 October 1979 and the fabrication cell demonstrated on 3 December 1979. This final report details the accomplishments of Task A on meeting the objectives of the program. Results of the work cell and on with an outline of limitations and constraints are also included in the report. The Robotics Application Guide was published as Volume II of this report.…