Robotics for Assembly Automation Tutorial

Robotic Industries Association

Presentation Overview

• Highlight Robots for Assembly Features &

Benefits
• Explore
p “When & Why”y To Incorporate
p Robotics
for Assembly Automation
p Misconceptions
• Dispel p about Robotics for
Assembly
• Getting Started: How to Develop an RFQ
• List of Vendors and Additional Resources

2
Robotic Assembly Opportunity

• Properly integrated, today’s reliable robots offer

t
tremendous
d opportunities
t iti forf meeting
ti the
th challenges
h ll off
today’s dynamic products, product presentations and
assembly lines.

• In addition, companies are commanding stringent

operational conditions for 24/7 operations while still
necessitating high reliability,
reliability low maintenance
maintenance, flexibility
and quick changeover between products.

• T
Today,
d robots
b t are commodity dit products
d t yielding
i ldi superior
i
performance, reliability and versatility.

3
Robotic Assembly Opportunity

• Robotics are beingg successfully

y implemented
p for
assembly automation in numerous markets and
applications including:
– Aerospace
– Agriculture
– Appliances &Consumer Goods
– Automotive
– Building Products
– Electronics
– Energy Devices
– Marine
– Medical
– Semiconductor

4
Robotic Assembly Opportunity

• Robotics p
provides a unique
q opportunity
pp y for assembly y
automation solutions. These opportunities include:
– Minimize Risk
– Minimize Product Handlingg
– Minimize Damage To Product
– Minimize Failure Opportunities
– Minimize Operator Intervention
– Minimal Product Change Over
– Minimize Maintenance
– Optimize Operational Performance

5
Robotic Assembly: Features & Benefits

• Understanding the features and benefits of using robots for

assembly automation is best described when compared to
“traditional” assembly automation technology.

• y benefits of robotics over traditional include:

Key
– Higher Reliability
– Robots Reduce Risks
– Greater Flexibility & Versatility
– Optimum Part/Product Handling
– Quicker Changeover
– Lower Maintenance
– Greater Layout
y Flexibilityy
– Control & Software
– Common Technology Solution
– Ease for Upgrade or Redeployment
– Environment Compatibility
– What is the real “system” cost?

6
Higher Reliability

• Robots ((including
g controller)) are p
proven to
provide:
– 50,000 to 100,000+ hours MTBF [Mean Time
Between Failure] of operation without failure.
• Equivalent to 25-40 “man-years”

7
Higher Reliability

• Robotic vs. Pneumatics

– Robotic Pick & Place
• Significantly simplified configuration
• Substantial reduction in failure opportunities

8
Higher Reliability

• Robotic Components
p Required
q
– Robot (4-6 axes) [50,000+ MTBF]
• Includes controller
• Includes collision guard software eliminating break-away device
– Gripper

• Pneumatic Components Required (per one axis only)

– Axis slide
– Axis sensors/brackets/cables/connectors (2 each)
– Hard Stop (2)
– Shocks (2)
– Mounting g interface p
plates and hardware
– Flow controls (2)
– Valve/cable/connector
– Pressure Regulator
– Tubing and Connectors
– Gripper

9
Higher Reliability

• 2-Axis Pneumatic Manipulator

p with one Rotary
y Axis

• 6 - Axis Robot
– * A robot can be considered as one component since it exceeds 50
50,000
000 MTBF

10
Higher Reliability

• Three-Axis Pneumatic Manipulator

p is 6-times More likelyy
to have a Failure than a 6-axis Robots

Failure Opportunity Analysis

700
600
500
400
# of Failures 3-Axis Pneumatics
300
200 6-Axis Robot
100
0
Single Station 6 Station
Machine

11
Higher Reliability

• Simplify
p yp part handling
g to minimize total number of
system electrical/mechanical components.
– For example, using vision and robot to locate and pick parts from
a bin or off a moving conveyor eliminates collating
collating, accumulating
and orienting. It also reduces part jamming and part changeover
seen with conventional feeding.
• Addition of automatic tool changer eliminates operator
handling, storing and assembly of tooling
• Utilizing
g robot auxiliary
y axes for ancillary
y motion/control
eliminates an additional servo/control/software platform.
• Utilizing 6-axis robots for part handling can eliminate
complex pneumatic devices and changeover
changeover.

12
Robots Reduce Risks

• Design Process Development

– E
Engineering
i i costs
t are a ffraction
ti off traditional
t diti l systems
t
– Robot is one “Part”
• Fabrication & Assembly
– Less electrical and mechanical components
• Integration
– Reduced time for debug & fine tuning
• Maintenance
– Less maintenance….grease
g axes every
y 6 months and change
g the battery
y once a
year
• Technical Risks
– Use of robots greatly reduces risk from variations or changes during project
• Greater Flexibilityy
– During and after project completion
• Reduced Schedule
– Robots greatly reduce assembly and debug time
• Reliability
– Not only are robots more reliable than traditional systems, they typically eliminate
the total number of components in a system by performing multiple tasks

13
Greater Flexibility & Versatility

• Robotics can be configured

g to optimize
p the p
part/product
p
handling compared to traditional assembly machinery
which has a fixed footprint, component in-feed and
assembly out
out-feed.
feed

• Robotics provides the ability to easily design around the

process/application instead of forcing a “standard
“designed machine or limited function devices onto the
process.
process

14
Greater Flexibility & Versatility

• Examples of Robot Flexibility & Versatility

– Vision and Sensor Guidance
• Vision/sensor guided part feeding verses fixed hard automated parts feeders
– Picking of parts from multiple locations and heights
– Mixtures of parts/products can be created by bringing in multiple
in-feeds.
– Picking
Pi ki off multiple
lti l partt types
t with
ith the
th same robot
b t
– 6-degree freedom robots enable optimum motion for assembling
parts
– Optimizing speed/motion while minimizing part handling. A robot
can pick and place gently while moving from point to point high-
speed with controlled acceleration & deceleration

15
Optimize Part/Product Handling

• Speed
p
– Optimizing speed/motion while minimizing part handling. A robot
can pick and place gently while moving from point to point very
fast and with controlled acceleration/deceleration.
• Assembly
– 6-degree freedom robots provide optimum motion for assembling
parts For example a circuit board can be “rocked”
parts. rocked at an angle
into a mating part instead of straight in which requires almost a
perfect alignment of both parts.
• Quality
Q lit
– Replacing the “bang-bang” motion of pneumatics with optimized
motion profiling of a robot increases product quality.

16
Quicker Changeover

• Product changeover
g can be minimized or even
eliminated with the use of “Tool Changers”.
• Automatic tool changers are available for all ranges of
robots and payloads.

17
Quicker Changeover

• Incorporating
p g the dexterity
y of a 6-axis robot reduces the
number of electrical/mechanical devices required with
conventional configurations.
• Database programming allows computing of robot
motion based on product parameters which reduces the
amount of robot programming when changing process or
parts or product types
types.

18
Lower Maintenance

• When using g the robot to simplify

p y the system
y design
g and
operation, the total number of electrical and mechanical
components to maintain/repair in the system can be
significantly reduced
reduced.
• Robots are virtually maintenance free typically requiring
only greasing every 6 months to 3 years and changing of
batteries annually.
• Tool Changers increase reliability by eliminating operator
intervention of the tool
tool, system and changeover
procedure.

19
Greater Layout Flexibility

• Robots provide for design freedom to configure a system to optimize

space and operations.

• Traditional Automation • Robotic Automation

– More Cost – Less Cost
– More Footprint – Less Footprint
– ≈ 90% More Maintenance – ≈ 90% Less Maintenance
– ≈10x More Failure Opportunities – ≈10x Less Failure Opportunities

Conventional Solution Robotic Solution 20

Robots Provide Accurate Simulations

• Use of robots allows highly accurate simulations

to greatly reduce risk and product development.

21
Control & Software

• Robot controllers are highly advanced taking advantage of the latest

in safety, communication, HMI, web interface, simulation, on-line
documentation, integrated vision/intelligent sensors and application
specific software.
• Robot controllers can be used to control the entire assembly solution
including I/O, HMI’s and additional servo devices such as collators
and metering conveyors.
• Ethernet communication provides reliable control interface to I/O
and other equipment.
• Database driven software reduces or eliminates changeover.
• “Collision” Guard Software Protects Robot, Tooling and Product.
• “Soft Float” Software allows X-Y “Float” during part placement.
• 6-axis
6 axis “force
force sensors”
sensors provide “intelligent”
intelligent assembly.
assembly
• Remote connectivity provides remote support capability.
22
Common Technology Solution

• Allows common platform for multiple assembly

stations
– Same brand robots typically utilize common control
platform
• Common platform across multiple factory
applications
li ti
– For example the same robot brand can be used for
raw material handling,
handling machine load/unload of
components, assembly, testing, packaging and
palletizing

23
Ease for Upgrade or Redeployment

• Upgrading for new products/processes is

minimized.
– Typically, changes are limited to robot tooling and
programming.
• Robots can be redeployed for new applications if
product/processes
d t/ become
b obsolete
b l t or are
moved to another facility.

24
Environmental Compatibility

• Robots are available and p

proven for most any
y application
pp
and environment.
– Clean Room
– Cold
– Dusty
– Explosive
– Heavy
– Hot
– Noisy
y
– Radiation
– Sanitary
– Wet

25
What is the real “system” cost?

• Costs to be considered are more than just “Materials”!

– The true costs for the non-robot solution can be significant and include:
• Engineering
• Documentation
• Fabrication
• Assembly
• Debug g
• Installation
• Support
• Changeover
g
• Performance & Functionality
• Risk, Rework….Redesign

Remember, the robot is “one” purchased

component!
26
Robotic Assembly: When & Why?

• Use “Robotic Assembly”

y if yyour parts,
p , assembly
y
processes or product presents any of the challenges
called out below:
– Parts are difficult to feed
feed, orient or accumulate
– Variety of part or product types
– Limited timeline for project development and integration
– Short product life cycles
– Traditional automation solutions would require a large number of
pneumatic devices.
– Product assembly has potential for process “simplification” if
robots are used.
• Process
– Variability in processes from one product to another
– Ergonomic Issues 27
Robotic Assembly: When & Why?

• Facility/Line
y Configuration
g
– Multiple Lines
– Minimal Space
– Minimal Accumulation due to space
– Utilization of existing material handling or peripheral equipment

• Operational Challenges
– High frequency of changeover
– Difficulty to ramp up production between changeovers
– Market driven changes in product and product presentations

28
Robotic Assembly: Misconceptions

• If yyou’re trying
y g to improve
p yyour assembly
ypprocess,, don’t
be misled by these old misconceptions about robot
reliability, complexity and costs.
– Robots cannot handle high speed lines
– Robotics technology is complex
– Robotics requires higher skilled operators and support personnel
– Robotic solutions are unreliable
– Robotic solutions are expensive

None of these statements are true!

29
Getting Started: Developing an RFQ

• Assembly automation analysis requires a

detailed functional requirement analysis to
develop an RFQ [Request for Quotation].

• It is critical that all parts/components,

p p ,
assemblies, processes, throughput rates, plant
layouts and assembly details be included in the
RFQ.
RFQ

30
Getting Started: Developing an RFQ

• A RFQ (Request For Quotation) should include a

F
Functional
ti l Requirements
R i t SSpecification
ifi ti (FRS)
– Functional Requirements Specification
• The purpose of an FRS is to define the projects requirements
without providing any concept or solution
solution.
• Must be complete before concept and proposal/quotation
Getting Started: Developing an RFQ

• FRS should include the following:

– Title Page
– Revision & TBD
– Scope
– Associated Documents
– Project Overview
– System Functionality
– Process Overview
– S
System C f
Configuration
– Production Requirements
– Reject/Failure Requirements
– Critical Assumptions
– Project Risks
– Project Management Plan
– Qualification Requirements
– S
Sample l Requirements
R i t
– Additional Requirements
Developing an FRS

• When developing a FRS it is vital to clearly assess and

understand
d t d th the requirements
i t iincluding:
l di
– Product Description
• General Description of product and assembly process
• Detailed part and assembly drawings
• Pictures & Samples
– Assembly Process
• Thoroughg machine cycle
y rate analysis
y [[see later slides]]
• Detailed process documentation such as welding or bonding
specifications/requirements.
– Testing & Qualification
• Detail test plan for BOTH process steps and final product
qualification.

33
Developing an RFQ: Project Requirements

• Other p
product,, p
process or g
general requirements
q or
issues
– Assembly Constraints
– Quality and Reliability
– Product mix-up validation
– Machine Noise Limits
– Operator Height Range
– Data Acquisition
– Validation & Certification
– Project Timeline
– Expected uptime and efficeincies

34
Machine Cycle Rate Analysis

• Determining Machine Cycle-Rate

– Assembly system cycle-rate has a significant impact on the concept,
design and project success.
• A Perfect World – 100% Efficiency – Does NOT exist!
– Example shows a machine cycle rate of 5.18 seconds

35
Machine Cycle Rate Analysis

• Conservative Analysis
y
– Example shows a machine cycle rate of 4.14 seconds
• 85% Machine Availability [parts available shift changes, etc…]
• 95% System
y Efficiency
y
• 99% Product Yield [1% scrap]

36
Machine Cycle Rate Analysis

• Realistic Analysis
y
– Example shows a machine cycle rate of 4.63 seconds
• 92% Machine Availability [parts available shift changes, etc…]
• 98% System
y Efficiency
y
• 99% Product Yield [1% scrap]

37
Project Management

• Functional Requirements Specification

– Complete prior to Contract Award

• Preliminary Design Review

– Complete Preliminary Design Specification
– Block Diagrams Complete
– Software Requirements Defined
– Ordering of Long-Lead Components [i.e. Robot]

• Final Design Review

– Complete Final Design Specification
– Final Layouts
– List of all Major Components
– Detailed I/O Lists
– Operation Specifications Complete
– Software Flow Complete

• Preliminary Acceptance
• Qualification of System
– Installation & Training
– Final Acceptance
– Qualification of System

• After Sales Support 38

Robot “Peripherals” for Assembly

• Incorporating other robot peripherals will

optimize the robot(s) capability while significantly
increasing system reliability and flexibility.
– System Chassis Configuration
– Machine Vision & Sensing
– Part Handling Components
– Assembly Test & Qualification
– Software & Control

39
Peripherals: Chassis Configurations

• The “chassis”
chassis configuration provides the means
for indexing the “assembly” through the
assembly automation process.
• Robots provide the flexibility to easily integrate
into any configuration.
• Chassis configurations may include:
– In-line, Rotary Dial, Work Cell, Carrier Strip, Blow
F d H
Feed, Hybrid…and
b id d more

40
Peripherals: Chassis Configurations

• In-Line
In Line
– Power & Free
• Using pucks/pallets which float/travel on
continuously running “belt”.
– Precision Indexing
• Carousel or Over-Under
Over Under
– Walking Beam

41
Peripherals: Chassis Configurations

• Rotaryy Dial
– Assembly rides in fixtures which
are indexed from station to
station
t ti on a rotary
t dial.
di l

• Work
W k Cell
C ll
– Robots or operators provide
“indexing”
indexing of assembly

42
Peripherals: Chassis Configurations

• Carrier Strip
p
– Example of a creative solution
whereby the assembly is
performed
f d with
ith th
the “b
“body”
d ” off th
the
assembly still attached to a
carrier strip.
– The strip is indexed using the
excise die.
• Blow Feed
– Transfer of assembly by
blowing part from one station
“blowing”
to another.
43
Peripherals: Chassis Configurations
Carrier Strip

• Hybrid Blow Feed

Precision
Indexing

Power-Free
Rotary Dial

44
Peripherals: Vision & Sensors

• Machine Vision/Sensors
– Parts Handling
– Part Identification
– Robot Guidance
– Assembly Verification
– Package Verification

45
Peripherals: Vision & Sensors

• Machine Vision Adds Flexibilityy

– Provides for Easy, Frequent Part Changeovers
• Load New Projects As Needed From Robot Control
– Adapts to Process and Part Variations
• Parts Change in Overall Size
– Measured Change Provided to Robot
• Provides Data About Parts
– Color, Size, Quantity
y…
– Locates and Ids Multiple Parts
• Identifies Which Parts Are Available
• Provides Location for Each Part
– H
Handle
dl Random
R d Orientation
O i t ti off P
Product
d t
– Reusable for Processing of Multiple Applications
– Flexible Feeding using Robotics and Smart Feedback Systems

46
Peripherals: Vision & Sensors

• Vision Reduces Cost

– Less Dedicated Tooling
• Pick Parts Directly From Skid, Bin, Conveyor or Machine
– Reuse of Conveyance and Equipment
• Often Enables the Use of Existing Equipment
– Simplifies the Installation
• Less Components to Setup and Maintain Is Better
– Reduced Production Costs
• Less Inspectors
• Fewer Machine Operators
• Reduced Rework and Scrap

47
Peripherals: Vision & Sensors

• Robotics with Vision Increases Competitiveness

p
– Enables New Applications
– Adds Flexibility to the Robot
– Lowers Costs
– Improves Quality
– Expandable for Changing Parts or Operations
– Reduces Design and Build Effort
– Provides Short Installation Times

48
Peripherals: Vision & Sensors

• Vision p
provides the ability
y to locate and orient p
part for
assembly

49
Peripherals: Vision & Sensors

• Part identification and validation using

g vision

50
Peripherals: Vision & Sensors

• Vision for verifying assembly processes

51
Peripherals: Part Feeding

• Products/Parts Feeding
– Most system problems are due to PRODUCT
QUALITY or “PRESENTATION” issues
• It is also where engineers tend to spend the least amount of effort during the design
process.

– Many methods for presenting product to robot

• Loose (b
L (bulk)
lk)
• Accumulated (conveyor)
• Random (conveyor)
• Trays
• Magazines
• Taped Reels
• Carrier Strip

52
Peripherals: Part Feeding

• Regardless of the “feeding”

feeding method,
method consider
these general requirements:
– Feed Rate (parts per minute)
– Part Orientation [both in-feed and
assembled/packaged]
– Part
P t Variability
V i bilit
– Number of hours of part storage/buffer (usually 2
hours).
– Load height (typically doesn’t exceed 65 inches)
– Part Sensitivity to scratching or marring
– Noise
53
Peripherals: Part Feeding

• Part Feeding
– Bowl Feeding
– Step Feeding
– Fl ibl F
Flexible Feeding
di
– Flex Bowl Feeding
– Bin Picking
– Tray Handling
– Magazine Feeding
– Tapes and Reel Feeding
– Carrier Strip Feeding

Most can be simplified by….

by
…incorporating a robot/vision into the feeding scheme!
54
Peripherals: Part Feeding

• Bowl Feeding
– Bulk load
– Vibrate or Centrifugal
g
– Orient and Lane Parts
– Singulate for Transfer
Hopper
In-Line

Bowl

55
Peripherals: Part Feeding

• Step
p Feeding
g
– Bulk Load
– Quiet
– Gentle on Parts
– Compact
– Very Reliable
– “Lower” Rates

56
Peripherals: Part Feeding
• Flex Bowl Feeding
– Feed variety of parts in ONE bowl
– Bowl feeding without final orientation
• Feed parts only “right side” up
• Utilize vision to locate part and robot to orient

57
Peripherals: Part Feeding

• Flexible Feeding
– Incorporates vision to simplify the mechanics
– Increases Flexibilityy
– More tolerant to part variances

58
Peripherals: Part Feeding

• Bin Feeding
– Layered or Bulk
– Incorporates vision and/or
sensors to locate for robot
pickup

59
Peripherals: Part Feeding

• Tray Handling
• Magazine Feeding
• Tapes and Reel Feeding
• Carrier Strip Feeding

60
Peripherals: Test & Qualification

• Robots are often used for in

process and final qualification
of the assembly.
– Assembly Tests
• Leak
• Torque
• Sheer or Tensile
• Force
• Angular
• Rotational
– Functional Test
• Full or Partial test of assembly as an
operational “product”
61
Peripherals: Software & Control

• Historically,
y engineering
g g for automation has emphasized
p
mechanical design over software or control.

• Robot Controller,
Controller PLC or PC controls are normally used
as the “main” controller. Larger lines have a Host-Line
Controller.

• When choosing a control platform, be aware that the

majority
j y of software for a quality
y assembly
y system
y is for:
– Error and emergency stop recovery, part tracking and
operator interface. The actual assembly control is very
rudimentary, as long as the control code is highly
structured.
structured

62
Control and Interface (HMI)
• At a minimum, software and the HMI
Interface should include:
– Graphical User Interface Touch Screen
– Automatic, Manual, Audit and Re-Test
Modes
odes
– Basic Process Tracking
– Automatic Diagnostics for all feed back
devices including sensors
– Single Step/Cycle of each station process
– Low Parts Indication
– E-stop
E t and dEError recovery
• The challenge is to provide “simplistic”
p
control architecture with “complex” or
“sophisticated” control capabilities.
63
Case Study: Key Fob Assembly

• Robots (6)
• Vision Inspection (8)
• Vibratory feeders (8)
• PCB Tray handling
• Power-free conveyor system
• Distributed network control
• PC NNetwork
t k ffor vision
i i and
d remote
t access
• Process tracking, remote access and automatic diagnostics

64
Case Studies: Key Fob Assembly

A D
U
Upper Housing
H i L
Lower H
Housing
i
•Verify 3 hole or 4 hole •Vision OCR Part Number
•Date Stamp •Robot with Flex Feeder places
housing
•Robot with Flex Feeder places
h
housing into pallet
ll •Pneumatic “snap”
“ ” and
d sensor probe
b
assembly verification
B
E Key Ring
Keypad
•Robot removes Fob from pallet and
•Vision
Vi i V
Verify
if (Obj
(Objectt Recognition)
R iti ) positions for assembly of ring
•Robotically place into Upper Housing •“Ringer” assembled
•Robot presents assembly for
“ringer” vision inspection
C
Transmitter PCB
•Robotic handling of trays and PCB
•Vision Inspect for battery seat & model number
•Robotically place into keypad

65
Case Study: Automotive Sensor

3
• Unique configuration integrated in phases
to minimize risk and maximize overall
project success.
• Common control platform for all sub-
systems
• Phase-1: Final assembly of the
automotive sensor product assembly.
• Phase-2:
Phase 2: Assembly of the “float”
float sub
sub- 2
assembly
• Phase-3: Assembly of internal switch
assembly.
• Phase-4: Product calibration, functional 1
4
test and pack out.

66
Phase-1: Final Product Assembly

• Robots (3)
• Rotary Dial Indexing
• Bowl Feeders (3)
• Vision Guidance
• Rotary Indexing
• RTV Dispense
• O bit l W
Orbital Welding
ldi
• Leak Test
• Part Sorting
• Data Acquisition
• Two Part Types
• 800 parts/hour
• 1 part/4.5 seconds
67
Phase-2: Float Sub-Assembly

• Bowl Feeders (1)

• Vision Inspection
• Assembly
• Insertion Testing
• Blow Feeding
• Part Sorting
• D t Acquisition
Data A i iti
• Two Part Types

68
Phase-3: Internal Switch Assembly

• Robots (1)
• Carrier Strip Indexing
• Vision Guidance
• Vision Inspection
• Precision Indexing
• Resistive Welding
• Ci i
Crimping
• Part Sorting
• Data Acquisition
• Two Part Types

69
Phase 4: Calibration, Test & Pack Out

• Robots (2)
• Vision Inspection
• Rotary Indexing, Precision Indexing and Power-Free
• Functional Test
• Part Marking
• Part Sorting
• P k i
Packaging
• Data Acquisition
• Two Part Types
• 800 parts/hour
• 1 part/4.5 seconds

70
Case Study: Automotive Sensor

• Assembly of three unique sensor configurations using six axis robots

to accommodate the differing geometries and processes.
– Robots (6)
– Bowl Feeders (5)
– Pocketed Tape Feeder
– Precision Indexing Axial Components
– Component Form & Excise
– Resistive Welding
– Leak Test, Functional Test
– Vision Inspection
– Lubrication
– Part Marking & Part Sorting
– Data Acquisition
– Two Part Types
– 720 parts/hour
t /h
– 1 part/5 seconds

71
Case Study: Medical Component

• Precision assembly of filament component based on real-

time vision guidance.
– Robots (2)
– Shuttle Indexer
– Laser Welding
– Real-time vision feedback and Inspection
– Database part configuration for 70+ part variations
– PC Based Robot Controller and Interface
– Statistical Process Control
– Part Identification
• Large robot provided both manipulation of vision camera
to locate part in relationship to mating housing geometry
and laser welding of filament.
– Automatic tool changing was incorporated to switch from
manipulating camera and laser
laser.
• Small robot provided manipulation of filament based on
larger robots analysis.
72
Case Study: Gauge Assembly

• Automatic ggauge
g assembly y incorporating
p g robots for p
part
handling, tray handling product assembly.
– Robots (4)
– Rotary Dial
– Bowl Feeders (5)
– Robotic load/unload
– Robotic tray handling
– Robotic assembly
– Torque
q drivers ((2))
– Taper

73