AbstractThis master thesis was performed at Scania transmission department in Södertälje, where the manufacturing of gears is done. Today a large amount of manual handling is performed between the machining and the hardening process. Most of the manual handling is done at the heat treatment department. The purpose of this master thesis is to give a suggestion on how to reduce or eliminate the manual handling at the heat treatment department. The possibility to use the same packaging throughout the processes will also be investigated.

IRB 340, Flexpicker is an industrial robot used for sorting, packaging and the handling of details up to two kg. The Flexpicker is a delta robot, meaning that it with three arms controls a triangular plate, swivel, in a work area shaped like a cylinder. Joints using plain bearings connect the arms.The plain bearing in use today consists of a plastic ring which slides against a hard anodized joint ball. Despite the fact that the plastic contain friction-lowering additives, the bearing needs to be lubricated to prevent noise. Because the robot is used in food and drug handling environments, where the demands on hygiene are set very high, the robot is often washed.

This study has been assigned by Bengt Hellman who works at the logistic department at IKEA Torsvik just outside of Jönköping. The task has been to develop a new picking strategy for the Oversize area in the CDC-Warehouse. The reason why IKEA wants a new strategy is because they want to minimize the route length for the forklifts when collecting the orders.By evaluating the current strategies on other areas in the CDC-storehouse, study literature within this subject and look at restrictions for the storing of goods, we have analyzed how the Oversize area works today. We compared the gathered information, to how it should be done according to the literature to be able to work out a new functional strategy.Today, IKEA does not have a working strategy for the oversize area because of lack of time and because all the power has been put on other areas were sales rates are currently higher. This have led to lack of organisation at the Oversize area and items are just put were there is space without first analysing were it should be placed.The strategy that we have worked out and introduced to IKEA builds on easiness of understanding the layout, the employees shall know why an item is placed where it is.

Detta examensarbete är en undersökning av hur många liggbås som finns i olika skötselsystem för robotmjölkning med dels fri kotrafik och dels olika former av styrd kotrafik. Undersökningen föreslogs av Växa Sverige och är en enkät som skickades ut till 70 lantbrukare. Användbara svar till undersökningen lämnades av 44 av lantbrukare. I undersökningen har vi valt att redovisa resultaten i 5 olika kategorier, Milk first, Feed first, Frigående kotrafik, Flerboxsystem och Ekologiska. Det finns idag inga rekommendationer för antalet liggbås per mjölkningsrobot baserade på praktisk erfarenhet, för lantbrukare som ska bygga nytt stall. De enda riktlinjer som finns är robotföretagens teorier och Sveriges djurskyddlag som kräver minst ett liggbås per ko. I studien framkom att det var en stor variation i antal liggbås per robot och även i önskade antalet liggbås per robot. Faktorer som påverkade antalet liggbås var kornas medelavkastning, aktuellt system för kotrafik och hur lantbrukarna vande in kvigorna och sinkor till roboten innan kalvning.

Den nya standarden Eurokod kräver omställningar på byggprojekteringskontoren i det hänseende att personalen måste lära sig att använda och följa denna standard. För knutpunkter i stål har det hittills funnits stöd i form av beräkningsmetoder och handböcker, men ännu har inte någon utförlig hjälp om hur man hanterar dem med Eurokod utkommit. Trots att dimensioneringsprocessen av knutpunkterna är mycket viktig vid projektering av stålkonstruktioner är processen långsammare än den kan vara. Därför vore det bra om man fann ett enklare och snabbare sätt att dimensionera knutpunkter i enlighet med Eurokod.Intervjuer har visat att dimensioneringsprocessen hittills fungerat så att beräkningarna sker för hand av en konstruktör enligt BKR:s regler, för att sedan modelleras i 3D av en projektör som slutligen får sina ritningar granskade av en tredje person.Genom fallstudier av standardknutpunkten BP1 söktes en förbättrad dimensioneringsprocess jämfört med den som intervjuerna beskrev. I fallstudierna dimensionerades BP1 för hand och med programmen Autodesk Robot Structure Professional Analysis 2011 och modellerades med Tekla Structure 16.0, hela tiden i enlighet med Eurokod.

The purpose of this report is to evaluate different methods for identifying states in robot models. Both linear and non-linear filters exist among these methods and are compared to each other. Advantages, disadvantages and problems that can occur during tuning and running are presented. Additional measurements from accelerometers are added and their use with above mentioned methods for state estimation is evaluated. The evaluation of methods in this report is mainly based on simulations in Matlab, even though some experiments have been performed on laboratory equipment.The conclusion indicates that simple non-linear models with few states can be more accurately estimated with a Kalman filter than with an extended Kalman filter, as long as only linear measurements are used.

This study includes a life cycle assessment, LCA, on an ecological produced cotton shirt for the company Reflective Circle, which designs ethical and ecological clothes.Initially were cotton farming and textile production studied to gather basic knowledge about the processes. Since this shirt is being ecological produced in the whole production chain, we studied what an ecological production means, but also how a conventional production works. When this was done we could start to discuss the differences and similarities between the production of the shirt and general conventional production.When the LCA was first initiated, the main focus was on the green house gas emissions from the manure at the cultivation. Thereafter the process steps such as picking, ginning, carding, spinning, weaving and sewing were being studied. The picking is done by hand, but the rest of the processes are handed by machines which consumes energy.

This thesis studies path generation for industrial robots of six degrees of freedom. A path is defined by connection of simple geometrical objects like arcs and straight lines. About each point at which the objects connect, a region, henceforth called a zone, is defined in which deviation from the defined path is permitted. The zone allows the robot to follow the path at a constant speed, but the acceleration needed may vary. Some means of calculating the zone path as to make the acceleration continuous will be presented.

This thesis is divided in to two different parts. The first part includes examination of the measurementsystem of an industrial robot using a resolver sensor. The main focus is on methods for suppressing noise in the angularvelocity signal without increasing timedelay. Five different methods are investigated. Three of these are based on oversampling: burstsamplingmethod, meanvaluemethod and correlationmethod.

The task in this thesis is the steering of one of Saab Bofors Dynamics robots using Sliding Mode Control, a method they never used before. The robot constitutes a system which in addition to perturbations and uncertainties due to modeling imprecision, hold the difficulty of being highly time variant. In order to be able to keep required performance with uncertainties and modeling imprecision present, the use of robust control methods like Sliding Mode Control is necessary. SMC is based on the states of the system being forced to stay on or in the direct vicinity of a hyper plane in the state space which is chosen in a way that gives the system dynamics desired properties. Other advantages with sliding mode are reduced order dynamics on the switching surface and total insensitivity to some uncertainties and perturbations.

Material handling is a term that includes all kinds of handling of material from a raw product to a finished one. ABB is active in the following segments; foundry, packaging and palletizing, metal industry and plastics industry.The demands for efficiency and reliability have been set very high in the industrial sector. Optimizing of the material handling will give the company higher cost-effectiveness. Around the robot there are different kinds of material flows, to optimize the cycle time, consisting of carriages combined in different ways.Motion Control is a complex system with main functions such as; positioning, synchronizing, indexing and more. The products in the system need to cooperate to make these functions possible therefore integration of motor- and servo products are important.

Detta examensarbete har utförts på Ovako Bar i Hällefors i syfte att kontrollera möjligheterna att automatisera en slipningsprocess på stänger med ytdefekter. Det största skälet till arbetets uppkomst är de vibrationsskador som uppstår i operatörers händer vilket i sin tur leder till sjukskrivningar.Arbetet inleddes med en nulägesanalys på Kontrollstation 7 för att kontrollera hur processen går till, hur operatörerna upplever situationen och få en större förståelse för situationen. Information om nuvarande utrustning inhämtas i syfte att kunna utvärdera möjligheter. Kontakter med potentiella leverantörer togs också, i syfte att få ytterligare bollplank.Efter nulägesanalysen inleddes förbättringsförslagsprocessen. Lösningar till problemet uppkom ur brainstorming efter kravspecifikationen.

This study was made to see too what extent Swedes uses consumptive resources such as berries and mushrooms, game meat and meat from fish in their household on a yearly basis. I have also looked into the difference between rural and urban areas in Sweden. Further aim was to determine what factors that correlates with the participation in berry and mushroom picking and the use of game and fish meat within the household. The study was conducted in form of a mail survey that was sent to randomly chosen persons in every municipality in the six northern most counties in Sweden and in the county of Stockholm. In addition a sample was sent to randomly chosen persons on a national level.The results showed there is a difference in use between rural and urban areas in Sweden in all 4 investigated consumptive resources.

Automatic milking systems (AMS) have been in commercial use since 1992 and have since 1998 increased a lot. The objective of this study has been to examine the development of udder health on farms converting to AMS. The study also included a comparison of how udder health developed depending on how farms handled cows with mastitis. This was because farms choose to either milk cows with mastitis in a separate barn or in the milking robot. Other studies on udder health on commercial farms have shown that somatic cell count increases both among individual cows and in the bulk milk when converting to an AMS. No differences between before and after converting to AMS in the proportion of cows treated for mastitis can be found in the literature.

Atlas Copco Tools is a world leading company in tool manufacturing. The productionin Tierp works hard to improve their assembly to maintain its position. This thesis isa part of their improvement efforts to be a more Lean production.The main focus for this thesis was to identify the material flow in the kanban system,which used to supply the assembly groups, focusing on the material flow to assemblygroup 9 and the assembly group 3. Group 3's material flow within the kanban systemwas perceived to perform better than the group 9. The handling of kanban materialand their working methods in the two groups was identify those differences whichaffected the kanban system.As an alternative material supply a study were done in kiting.