UNIT I

INTRODUCTION TO AUTOMATION
Objective:
 Too know about the Automation and types of Automations in the industries.

Outcome:
 Students will understand the process of automation and types

Introduction: Types and strategies of automation, pneumatic and hydraulic components

circuits, Automation in machine tools, Mechanical Feeding and to changing and machine
tool control transfer the automation

UNIT –I

1. Types of Automation System with examples

Automated production systems can be classified into three basic types:

1. Fixed automation,
2. Programmable automation, and
3. Flexible automation.
2. Fixed Automation examples

FIXEDAUTOMATION
It is a system in which the sequence of processing (or assembly) operations is fixed by the
equipment configuration. The operations in the sequence are usually simple. It is the
integration and coordination of many such operations into one piece of equipment that
makes the system complex. The typical features of fixed automation are:

a. High initial investment for custom–Engineered equipment;

b. High production rates; and
c. Relatively inflexible in accommodating product changes.

The economic justification for fixed automation is found in products with very high
demand rates and volumes. The high initial cost of the equipment can be spread over a very
large number of units, thus making the unit cost attractive compared to alternative methods
of production. Examples of fixed automation include mechanized assembly and machining
transfer lines.

PROGRAMMABLEAUTOMATION
In this the production equipment is designed with the capability to change the sequence of
operations to accommodate different product configurations. The operation sequence is
controlled by a program, which is a set of instructions coded so that the system can read
and interpret them. New programs can be prepared and entered into the equipment to
produce new products. Some of the features that characterize programmable automation
are:

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 a. High investment in general-purpose equipment;
b. Low production rates relative to fixed automation;
c. Flexibility to deal with changes in product configuration; and
d. Most suitable for batch production.

Automated production systems that are programmable are used in low and medium volume
production. The parts or products are typically made in batches. To produce each new
batch of a different product, the system must be reprogrammed with the set of machine
instructions that correspond to the new product. The physical setup of the machine must
also be changed over: Tools must be loaded, fixtures must be attached to the machine table
also be changed machine settings must be entered. This changeover procedure takes time.
Consequently, the typical cycle for given product includes a period during which the setup
and reprogramming takes place, followed by a period in which the batch is produced.
Examples of programmed automation include numerically controlled machine tools and
industrial robots

FLEXIBLEAUTOMATION
It is an extension of programmable automation. A flexible automated system is one that is
capable of producing a variety of products (or parts) with virtually no time lost for
changeovers from one product to the next. There is no production time lost while
reprogramming the system and altering the physical setup (tooling, fixtures, and machine
setting). Consequently, the system can produce various combinations and schedules of
products instead of requiring that they be made in separate batches. The features of flexible
automation can be summarized as follows:

1. High investment for a custom-engineered system.

2. Continuous production of variable mixtures of products.
3. Medium production rates.
4. Flexibility to deal with product design variations.

The essential features that distinguish flexible automation from programmable automation
are:

1. the capacity to change part programs with no lost production time; and
2. the capability to changeover the physical setup, again with no lost production time.

These features allow the automated production system to continue production without the
downtime between batches that is characteristic of programmable automation. Changing
the part programs is generally accomplished by preparing the programs off-line on a
computer system and electronically transmitting the programs to the automated production
system. Therefore, the time required to do the programming for the next job does not
interrupt production on the current job. Advances in computer systems technology are
largely responsible for this programming capability in flexible automation. Changing the
physical setup between parts is accomplished by making the changeover off-line and then
moving it into place simultaneously as the next part comes into position for processing.

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The use of pallet fixtures that hold the parts and transfer into position at the workplace is
one way of implementing this approach. For these approaches to be successful; the variety
of parts that can be made on a flexible automated production system is usually more
limited than a system controlled by programmable automation.

The relative positions of the three types of automation for different production volumes
and product varieties are depicted in the following figure.

3. Automation in Production system

Types of production automation

Understand, simplify and automate the process

Following the USA Principle is a good first step in any automation project.
The USA Principle is a common sense approach to automation projects. Similar procedures
have been suggested in
the manufacturing and automation trade literature, but none has a more captivating title
than this one.
USA stands for:

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1. Understand the existing process
2. Simplify the process
3. Automate the process.
It may turn out that automation of the process is unnecessary or cannot be cost justified
after it has been simplified.

If automation seems a feasible solution to improving productivity, quality, or other

measure of performance, then
the following ten strategies provide a road map to search for these improvements.
These ten strategies seem as relevant and appropriate today as they did in 1980. We refer to
them as strategies for
automation and production systems because some of them are applicable whether the
process is a candidate for
automation or just for simplification.
1. Specialization of operations
The first strategy involves the use of special-purpose equipment designed to perform one
operation with the
greatest possible efficiency.
This is analogous to the concept of labor specialization, which is employed to improve
labor
productivity.
2. Combined operations
Production occurs as a sequence of operations.
Complex parts may require dozens, or even hundreds, of processing steps. The strategy of
combined operations
involves reducing the number of distinct production machines or workstations through
which the part must be routed.
This is accomplished by performing more than one operation at a given machine , thereby
reducing the number of
separate machines needed.
Since each machine typically involves a setup, setup time can usually be saved as a
consequence of this
strategy. Material handling effort and non-operation time are also reduced.
Manufacturing lead time is reduced for better customer service.
3. Simultaneous operations
A logical extension of the combined operations strategy is to simultaneously perform the
operations that are
combined at one workstation. In effect, two or more processing (or assembly) operations
are being performed
simultaneously on the same workpart, thus reducing total processing time.
4. Integration of operations
Another strategy is to link several workstations together into a single integrated
mechanism, using automated
work handling devices to transfer parts between stations. In effect, this reduces the number
of separate machines
through which the product must be scheduled.

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With more than one workstation, several parts can be processed simultaneously, thereby
increasing
the overall output of the system.

5. Increased flexibility
This strategy attempts to achieve maximum utilization of equipment for job shop and
medium volume situations
by using the same equipment for a variety of parts or products. It involves the use of the
flexible automation concepts.
Prime objectives are to reduce setup time and programming time for the production
machine. This normally
translates into lower manufacturing lead time and less work-in-process.
6. Improved material handling and storage
A great opportunity for reducing nonproductive time exists in the use of automated
material handling and storage
systems.
Typical benefits include reduced work-in-process and shorter manufacturing lead times.
7. On-line inspection
Inspection for quality of work is traditionally performed after the process is completed.
This means that any poor
quality product has already been produced by the time it is inspected. Incorporating
inspection into the manufacturing
process permits corrections to the process as the product is being made.
This reduces scrap and brings the overall quality of product closer to the nominal
specifications
intended by the designer.
8. Process control and optimization
This includes a wide range of control schemes intended to operate the individual processes
and associated
equipment more efficiently. By this strategy, the individual process times can be reduced
and product quality
improved.
9. Plant operations control
Whereas the previous strategy was concerned with the control of the individual
manufacturing process, this strategy
is concerned with control at the plant level. It attempts to manage and coordinate the
aggregate operations in the
plant more efficiently.
Its implementation usually involves a high level of computer networking within the
factory.
10. Computer-integrated manufacturing (CIM)
Taking the previous strategy one level higher, we have the integration of factory operations
with engineering
design and the business functions of the firm.

• It is a hardware which converts a controller command signal into a change in a

physical parameter

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• It requires amplifier to strengthen the controller command
• Types

– Electrical
– Hydraulic
– Pneumatic

Basic Components of a Hydraulic System

Hydraulic systems are power-transmitting assemblies employing pressurized

liquid as a fluid for transmitting energy from an energy-generating source to an
energy-using point to accomplish useful work. Figure 1.1 shows a simple circuit
of a hydraulic system with basic components.

Load
Motor 1 – Off 2 – Forward 3– Return

1
3 2
Pressure
Filter
regulator

Pump

Direction
control
valve
Actuator
Oil tank

Figure 1.1 Components of a hydraulic system

Functions of the components shown in Fig. 1.1 are as follows:

1. The hydraulic actuator is a device used to convert the fluid power into mechanical
power to do useful work. The actuator may be of the linear type (e.g., hydraulic

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cylinder) or rotary type(e.g., hydraulic motor) to provide linear or rotary motion,
respectively.

2.The hydraulic pump is used to force the fluid from the reservoir to rest of the
hydraulic circuit by converting mechanical energy into hydraulic energy.
3.Valves are used to control the direction, pressure and flow rate of a fluid flowing
through the circuit.

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4. Piping system carries the hydraulic oil from one place to another.
5. Filters are used to remove any foreign particles so as keep the fluid system clean
and efficient, as well as avoid damage to the actuator and valves.
6. Pressure regulator regulates (i.e., maintains) the required level of pressure in the
hydraulic fluid.

The piping shown in Fig. 1.1 is of closed-loop type with fluid transferred from
the storage tank to one side of the piston and returned back from the other side of
the piston to the tank. Fluid is drawn from the tank by a pump that produces fluid
flow at the required level of pressure. If the fluid pressure exceeds the required
level, then the excess fluid returns back to the reservoir and remains there until
the pressure acquires the required level.

Cylinder movement is controlled by a three-position change over a control valve.

1. When the piston of the valve is changed to upper position, the pipe
pressure line is connected to port A and thus the load is raised.

2. When the position of the valve is changed to lower position, the pipe
pressure line is connected to port B and thus the load is lowered.

3. When the valve is at center position, it locks the fluid into the
cylinder(thereby holding it in position) and dead-ends the fluid line (causing all
the pump output fluid to return to tank via the pressure relief).

In industry, a machine designer conveys the design of hydraulic systems using

a circuit diagram. Figure 1.2 shows the components of the hydraulic system using
symbols. The working fluid, which is the hydraulic oil, is stored in a reservoir.
When the electric motor is switched ON, it runs a positive displacement pump
that draws hydraulic oil through a filter and delivers at high pressure. The
pressurized oil passes through the regulating valve and does work on actuator.
Oil from the other end of the actuator goes back to the tank via return line. To
and fro motion of the cylinder is controlled using directional control valve.

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 Cylinder
Extended

Retract

Directional control
Motor valve

Pump

Pressure regulator
Filter

Breather

Reservoir

Figure 1.2 Components of a hydraulic system (shown using symbols).

The hydraulic system discussed above can be broken down into four main
divisions that are analogous to the four main divisions in an electrical system.

4. The power device parallels the electrical generating station.

5. The control valves parallel the switches, resistors, timers, pressure switches,
relays, etc.

6. The lines in which the fluid power flows parallel the electrical lines.

7. The fluid power motor (whether it is a rotating or a non rotating cylinder

or a fluid power motor) parallels the solenoids and electrical motors.

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Basic Components of a Pneumatic System

Power Opens when set

supply pressure is reached
Load

Pressure 1 – Off 2 – Forward 3- Return

switch 1
Motor 3 2
Storage
Air cooler reservoir
Air filter

Air compressor

Direction
control
Air from
valve
atmosphere
Air actuator
Air to atmosphere

Figure 1.3 Components of a pneumatic system.

The functions of various components shown in Fig. 1.3 are as follows:

1. The pneumatic actuator converts the fluid power into mechanical power to
perform useful work.
2. The compressor is used to compress the fresh air drawn from the atmosphere.
3. The storage reservoir is used to store a given volume of compressed air.
4. The valves are used to control the direction, flow rate and pressure of compressed air.
5. External power supply (motor) is used to drive the compressor.
6. The piping system carries the pressurized air from one location to another.

Air is drawn from the atmosphere through an air filter and raised to required
pressure by an air compressor. As the pressure rises, the temperature also rises;
hence, an air cooler is provided to cool the air with some preliminary treatment to
remove the moisture. The treated pressurized air then needs to get stored to
maintain the pressure. With the storage reservoir, a pressure switch is fitted to start
and stop the electric motor when pressure falls and reaches the required level,
respectively.

The three-position change over the valve delivering air to the cylinder operates
in a way similar to its hydraulic circuit.

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Rotating electric motor

Solenoid

Cylinder and Piston

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NC:
NC is a form of programmable automation in which the mechanical actions of machine tools
are controlled by a program containing coded alphanumeric data.

Basic components of NC

• Part program: set of instructions or step by step commands

• Punched tape was the medium used whereas flexowriter was used to write/punch
program on it.

• Now magnetic tapes, disks, CDs are commonly used mediums

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 UNIT I
POWER POINT PRESENTATION SLIDES
 UNIT I
INDUTRIAL APPLICATIONS
 UNIT II
AUTOMATED FLOW LINES
Objective:

 To understand the different automated flow lines in the Industries.

Outcome:
 Students will get exposure to workstation, which refers to the location in the factory where some
well-defined task or operation is accomplished by an automated machine.

Automated flow lines: Methods or work part transport transfer Mechanical buffer storage control function,
design and fabrication consideration.
Analysis of Automated flow lines: General terminology and analysis of transfer lines without and with
buffer storage, partial automation, implementation of automated flow lines.

UNIT-II

AUTOMATED FLOW LINES

An automated flow line consists of several machines or workstations which are linked
together by work handling devices that transfer parts between the stations. The transfer
of workparts occurs automatically and the workstations carry out their specialized
functions automatically. The flow line can be symbolized as shown in Figure1 using the
symbols presented in Table1. A raw workpart enters one end of the line and the
processing steps are performed sequentially as the part moves from one station to the
next. It is possible to incorporate buffer storage zones into the flow line, either al a
single location or between every workstation. It is also possible to include inspection
stations in the line to automatically perform intermediate checks on the quality of the
workparts. Manual stations might also be located along the flow line to perform certain
operations which are difficult or uneconomical to automate.

Figure 1 In-line configuration

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 Figure 2 symbols used in production systems diagrams

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 The objectives of the use of flow line automation are, therefore:
 To reduce labor costs

 To increase production rates

 To reduce work-in-process

 To minimize distances moved between operations

 To achieve specialization of operations

 To achieve integration of operations

Configurations of automated flow line.

1) In-line type
The in-line configuration consists of a sequence of workstations in a more-or-less
straight-line arrangement as shown in figure 1. An example of an in-line transfer
machine used for metal-cutting operations is illustrated in Figure 4 and 5.

Figure 4 Example of 20 stations In-line

Figure 5 Example of 20 stations In-line configuration

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 2) Segmented In-Line Type
The segmented in-line configuration consists of two or more straight-line
arrangement which are usually perpendicular to each other with L-Shaped or U-
shaped or Rectangular shaped as shown in figure 5-7. The flow of work can take a
few 90° turns, either for workpieces reorientation, factory layout limitations, or
other reasons, and still qualify as a straight-line configuration.

Figure 5 L-shaped configuration

Figure 6 U-shaped configuration

Figure 7 Rectangular-shaped configuration

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3) Rotary type
In the rotary configuration, the workparts are indexed around a circular table or dial.
The workstations are stationary and usually located around the outside periphery of the
dial. The parts ride on the rotating table and arc registered or positioned, in turn, at each
station for its processing or assembly operation. This type of equipment is often
referred to as an indexing machine or dial index machine and the configuration is
shown in Figure 8 and example of six station rotary shown in figure 9.

Figure 8 Rotary configuration

Figure 9 Example of 6 station rotary configuration

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 METHODS OF WORKPART TRANSPORT
The transfer mechanism of the automated flow line must not only move the partially
completed workparts or assemblies between adjacent stations, it must also orient
and locate the parts in the correct position for processing at each station. The
general methods of transporting workpieces on flow lines can be classified into the
following three categories:
1. Continuous transfer
2. Intermittent or synchronous transfer
3. Asynchronous or power-and-free transfer

The most appropriate type of transport system for a given application depends on
such factors as:
The types of operation to be performed
The number of stations on the line
The weight and size of the work parts

Whether manual stations are included on the line

Production rate requirements
Balancing the various process times on the line

1. Continuous transfer
With the continuous method of transfer, the workparts are moved continuously at
Constant speed. This requires the workheads to move during processing in order to
maintain continuous registration with the workpart. For some types of operations,
this movement of the workheads during processing is not feasible. It would be
difficult, for example, to use this type of system on a machining transfer line
because of inertia problems due to the size and weight of the workheads. In other
cases, continuous transfer would be very practical. Examples of its use are in
beverage bottling operations, packaging, manual assembly operations where the
human operator can move with the moving flow line, and relatively simple
automatic assembly tasks. In some bottling operations, for instance, the bottles are
transported around a continuously rotating drum. Beverage is discharged into the
moving bottles by spouts located at the drum's periphery. The advantage of this
application is that the liquid beverage is kept moving at a steady speed and hence
there are no inertia problems.

Continuous transfer systems are relatively easy to design and fabricate and can
achieve a high rate of production.

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 2) Intermittent transfer
As the name suggests, in this method the workpieces are transported with an
intermittent or discontinuous motion. The workstations are fixed in position and the
parts are moved between stations and then registered at the proper locations for
processing. All workparts are transported at the same time and, for this reason, the
term "synchronous transfer system" is also used to describe this method of workpart
transport.

3) Asynchronous transfer
This system of transfer, also referred to as a "power-and-free system," allows each
workpart to move to the next station when processing at the current station has been
completed. Each part moves independently of other parts. Hence, some parts are
being processed on the line at the same time that others are being transported
between sta-tions.

Asynchronous transfer systems offer the opportunity for greater flexibility than do the
other two systems, and this flexibility can be a great advantage in certain circumstances.
In-process storage of workparts can be incorporated into the asynchronous systems with
relative ease. Power-and-free systems can also compensate for line balancing problems
where there are significant differences in process times between stations. Parallel
stations or several series stations can be used for the longer operations, and single
stations can be used for the shorter operations. Therefore, the average production rates
can be approximately equalized. Asynchronous lines are often used where there are one
or more manually operated stations and cycle-time variations would be a problem on
either the continuous or synchronous transport systems. Larger workparts can be
handled on the asynchronous systems. A disadvantage of the power-and-free systems is
that the cycle rates are generally slower than for the other types.

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TRANSFER MECHANISMS
There are various types of transfer mechanisms used to move parts between
stations. These mechanisms can be grouped into two types: those used to provide
linear travel for in-line machines, and those used to provide rotary motion for dial
indexing machines.

Linear transfer mechanisms

We will explain the operation of three of the typical mechanisms; the walking beam
transfer bar system, the powered roller conveyor system, and the chain-drive
conveyor system. This is not a complete listing of all types, but it is a representative
sample.

Walking beam systems

With the walking beam transfer mechanism, the work-parts are lifted up from their
workstation locations by a transfer bar and moved one position ahead, to the next
station. The transfer bar then lowers the pans into nests which position them more
accurately for processing. This type of transfer device is illustrated in Figure10 and
11. For speed and accuracy, the motion of the beam is most often generated by a
rotating camshaft powered by an electric motor or a roller movement in a profile
powered by hydraulic cylinder. Figure 12 shows the working of the beam
mechanish.

Figure 10 Almac Industrial Systems, the Ontario-based manufacturer of material

handling equipment- Walking Beam’.

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 Figure 11 SIKAMA INTERNATIONAL has developed a Walking beam mechanism
for FALCON 1200 and 8500

Figure 12 walking beam transfer system, showing various stage during transfer stage

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 Powered roller conveyor system
This type of system is used in general stock handling systems as well as in
automated flow lines. The conveyor can be used to move pans or pallets possessing
flat riding surfaces. The rollers can be powered by either of two mechanisms. The
first is a belt drive, in which a flat moving belt beneath the rollers provides the
rotation of the rollers by friction. A chain drive is the second common mechanism
used to power the rollers. Powered roller conveyors are versatile transfer systems
because they can be used to divert work pallets into workstations or alternate tracks.

(13 a)
(13 b)

Figure 13 a, b and c Power Conveyor

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 Chain-drive conveyor system
In chain-drive conveyor system either a chain or a flexible steel belt is used to
transport the work carriers. The chain is driven by pulleys in either an "over-and-
under" configuration, in which the pulleys turn about a horizontal axis, or an
"around-the-corner" configuration, in which the pulleys rotate about a vertical axis.
Figure 14 shows the chain conveyor transfer system.

Figure 14 Chain drive conveyor

This general type of transfer system can be used for continuous, intermittent, or
nonsynchronous movement of workparts. In the nonsynchronous motion, the
workparts are pulled by friction or ride on an oil film along a track with the chain or
belt providing the movement. It is necessary to provide some sort of final location
for the workparts when they arrive at their respective stations.
Rotary transfer mechanisms
There are several methods used to index a circular table or dial at various equal
angular positions corresponding to workstation locations.
Rack and pinion
This mechanism is simple but is not considered especially suited to the high-speed
operation often associated with indexing machines. The device is pictured in Figure
4.6 and uses a piston to drive the rack, which causes the pinion gear and attached
indexing table to rotate, A clutch or other device is used to provide rotation in the
desired direction.

Figure 15 rack and pinion mechanisms

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Ratchet and pawl:
A ratchet is a device that allows linear or rotary motion in only one direction, while
preventing motion in the opposite direction.
Ratchets consist of a gearwheel and a pivoting spring loaded finger called a pawl
that engages the teeth. Either the teeth, or the pawl, are slanted at an angle, so that
when the teeth are moving in one direction, the pawl slides up and over each tooth
in turn, with the spring forcing it back with a 'click' into the depression before the
next tooth. When the teeth are moving in the other direction, the angle of the pawl
causes it to catch against a tooth and stop further motion in that direction. This drive
mechanism is shown in Figure 16.

Figure 16 Rachet and pawl mechanism

Geneva mechanism:
The two previous mechanisms convert a linear motion into a rotational motion. The
Geneva mechanism uses a continuously rotating driver to index the table, as
pictured in Figure 17. If the driven member has six slots for a six-station dial
indexing machine, each turn of the driver will cause the table to advance one-sixth
of a turn. The driver only causes movement of the table through a portion of its
rotation. For a six-slotted driven member, 120° of a complete rotation of the driver
is used to index the table. The other 240° is dwell. For a four-slotted driven
member, the ratio would be 90° for index and 270° for dwell. The usual number of
indexings per revolution of the table is four, five, six, and eight.

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Figure 17 Geneva mechanism

CAM Mechanisms:
Various forms of cam mechanism, an example of which is illustrated in Figure 18,
provide probably the most accurate and reliable method of indexing the dial. They
are in widespread use in industry despite the fact that the cost is relatively high
compared to alternative mechanisms. The cam can be designed to give a variety of
velocity and dwell characteristics.

Figure 18 CAM mechanisms

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 CONTROL FUNCTIONS
Controlling an automated flow line is a complex problem, owing to the sheer
number of sequential steps that must be carried out. There are three main functions
that are utilized to control the operation of an automatic transfer system. The first of
these is an operational requirement, the second is a safety requirement, and the third
is dedicated to improving quality.

1. Sequence control.
The purpose of this function is to coordinate the sequence of actions of the transfer
system and its workstations. The various activities of the automated flow line must
be carried out with split-second timing and accuracy.
Sequence control is basic to the operation of the flow line.

2. Safety monitoring:
This function ensures that the transfer system does not operate in an unsafe or
hazardous condition. Sensing devices may be added to make certain that the cutting
tool status is satisfactory to continue to process the workpart in the case of a
machining-type transfer line. Other checks might include monitoring certain critical
steps in the sequence control function to make sure that these steps have all been
performed and in the correct order. Hydraulic or air pressures might also be
checked if these are crucial to the operation of automated flow lines.

3. Quality monitoring:
The third control function is to monitor certain quality attributes of the workpart. Its
purpose is to identify and possibly reject defective workparts and assemblies. The
inspection devices required to perform quality monitoring are sometimes incorporated
into existing processing stations. In other cases, separate stations are included in the
line for the sole purpose of inspecting the workpart as shown in figure 19.

Figure 19 Inspection station with feedback

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Conventional thinking on the control of the line has been to stop operation when a malfunction
occurred. While there are certain malfunctions representing unsafe con-ditions that demand
shutdown of the line, there are other situations where stoppage of the line is not required and
perhaps not even desirable. There are alternative control strategies 1.Instantaneous control and 2.
Memory control.

Instantaneous control:
This mode of control stops the operation of the flow line immediately when a
malfunction is detected. It is relatively simple, inexpensive, and trouble-free.
Diagnostic features are often added to the system to aid in identifying the location
and cause of the trouble to the operator so that repairs can be quickly made.
However, stopping the machine results in loss of production from the entire line,
and this is the system's biggest drawback.

Memory control:
In contrast to instantaneous control, the memory system is designed to keep the
machine operating. It works to control quality and/or protect the machine by
preventing subsequent stations from processing the particular workpart and by
segregating the part as defective at the end of the line. The premise upon which
memory-type control is based is that the failures which occur at the stations will be
random and infrequent. If, however, the station failures result from cause and tend
to repeat, the memory system will not improve production but, rather, degrade it.
The flow line will continue to operate, with the consequence that bad parts will
continue to be produced. For this reason, a counter is sometimes used so that if a
failure occurs at the same station for two or three consecutive cycles, the memory
logic will cause the machine to stop for repairs.

BUFFER STORAGE
Automated flow lines are often equipped with additional features beyond the basic
transfer mechanisms and workstations. It is not uncommon for production flow lines to
include storage zones for collecting banks of workparts along the line. One example of
the use of storage zones would be two intermittent transfer systems, each without any
storage capacity, linked together with a workpart inventory area. It is possible to
connect three, four, or even more lines in this manner. Another example of workpart
storage on flow lines is the asynchronous transfer line. With this system, it is possible
to provide a bank of workparts for every station on the line.

There are two principal reasons for the use of buffer storage zones. The first is to
reduce the effect of individual station breakdowns on the line operation. The
continuous or intermittent transfer system acts as a single integrated machine. When
breakdowns occur at the individual stations or when preventive maintenance is
applied to the machine, production must be halted. In many cases, the proportion of

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 time the line spends out of operation can be significant, perhaps reaching 50% or
more. Some of the common reasons for line stoppages are:
Tool failures or tool adjustments at individual processing stations Scheduled
tool changes
Defective workparts or components at assembly stations, which require
that the
Feed mechanism be cleared
Feed hopper needs to be replenished at an assembly station
Limit switch or other electrical malfunction
Mechanical failure of transfer system or workstation

Figure 20 Storage buffer between two stages of a production

When a breakdown occurs on an automated flow line, the purpose of the buffer
storage zone is to allow a portion of the line to continue operating while the
remaining portion is stopped and under repair. For example, assume that a 20-
station line is divided into two sections and connected by a parts storage zone which
automatically collects parts from the first section and feeds them to the second
section. If a station jam were to cause the first section of the line to stop, the second
section could continue to operate as long as the supply of parts in the buffer zone
lasts. Similarly, if the second section were to shut down, the first section could
continue to operate as long as there is room in the buffer zone to store parts.
Hopefully, the average production rate on the first section would be about equal to
that of the second section. By dividing the line and using the storage area, the
average production rate would be improved over the original 20-station Mow line.
Figure 20 shows the Storage buffer between two stages of a production line

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Reasons for using storage buffers:

– To reduce effect of station breakdowns

– To provide a bank of parts to supply the line
– To provide a place to put the output of the line
– To allow curing time or other required delay
– To smooth cycle time variations
– To store parts between stages with different production rates

The disadvantages of buffer storage on flow lines are increased factory floor space,
higher in-process inventory, more material handling equipment, and greater
complexity of the overall flow line system. The benefits of buffer storage are often
great enough to more than compensate for these disadvantages.

AUTOMATION FOR MACHINING OPERATIONS

Transfer systems have been designed to perform a great variety of different metal-
cutting processes. In fact, it is difficult to think of machining operations that must
be excluded from the list. Typical applications include operations such as milling,
boring, drilling, reaming, and tapping. However, it is also feasible to carry out
operations such as turning and grinding on transfer-type systems.

There are various types of mechanized and automated machines that perform a
sequence of operations simultaneously on different work parts. These include dial
indexing machines, trunnion machines, and transfer lines. To consider these
machines in approximately the order of increasing complexity, we begin with one
that really does not belong in the list at all, the single-station machine.

Single-station machine
These mechanized production machines perform several operations on a single
workpart which is fixtured in one position throughout the cycle. The operations are
performed on several different surfaces by work heads located around the piece.
The available space surrounding a stationary workpiece limits the number of
machining heads that can be used. This limit on the number of operations is the
principal disadvantage of the single-station machine. Production rates are usually
low to medium. The single station machine is as shown in figure 21.

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 Figure 21 single-station machines

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 Rotary indexing machine
To achieve higher rates of production, the rotary indexing machine performs a
sequence of machining operations on several work parts simultaneously. Parts are
fixtured on a horizontal circular table or dial, and indexed between successive
stations. An example of a dial indexing machine is shown in Figure 22 and 23.

Figure 22 Example of 6 station rotary configuration

Figure 23 Five station dial index machine showing vertical and

horizontal machining centers

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Trunnion machine
Trunnion machine is a vertical drum mounted on a horizontal axis, so it is a
variation of the dial indexing machine as shown in figure 24. The vertical drum is
called a trunnion. Mounted on it are several fixtures which hold the work parts
during processing. Trunnion machines are most suitable for small workpieces. The
configuration of the machine, with a vertical rather than a horizontal indexing dial,
provides the opportunity to perform operations on opposite sides of the workpart.
Additional stations can be located on the outside periphery of the trunnion if it is
required. The trunnion-type machine is appropriate for work parts in the medium
production range.

Figure 24 Six station trunnion machine

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 Center column machine
Another version of the dial indexing arrangement is the center column type,
pictured in Figure 25. In addition to the radial machining heads located around the
periphery of the horizontal table, vertical units are mounted on the center column of
the machine. This increases the number of machining operations that can be
performed as compared to the regular dial indexing type. The center column
machine is considered to be a high-production machine which makes efficient use
of floor space.

Figure 25 Ten-station center column machine

Transfer machine
The most highly automated and versatile of the machines is the transfer line, as
explained earlier the workstations are arranged in a straight-line flow pattern and
parts are transferred automatically from station to station. The transfer system can
be synchronous or asynchronous, work parts can be transported with or without
pallel fixtures, buffer storage can be incorporated into the line operation if desired,
and a variety of different monitoring and control features can be used to manage the
line. Hence, the transfer machine offers the greatest flexibility of any of the

DEPARTMENT OF MECHANICAL ENGINEERING

machines discussed. The transfer line can accommodate larger workpieces than the rotary-type
indexing systems. Also, the number of stations, and therefore the number of operations, which can
be included on the line is greater than for the circular arrangement. The transfer line has
traditionally been used for machining a single product in high quantities over long production runs.
More recently, transfer machines have been designed for ease of changeover to allow several
different but similar workparts to be produced on the same line. These attempts to introduce
flexibility into transfer line design add to the appeal of these high-production systems.

Figure 26 Example of 20 stations Transfer line

Figure 27 Example of Transfer line

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 ANALYSIS OF AUTOMATED FLOW LINE

General Terminology & Analysis:

There are two problem areas in analysis of automated flow lines which must be addressed:
R Process Technology
R Systems Technology
Process Technology refers to the body of knowledge about the theory & principles of the
particular manufacturing process used on the production line. E.g. in the manufacturing
process, process technology includes the metallurgy & machinability of the work material,
the correct applications of the cutting tools, chip control, economics of machining,
machine tools alterations & a host of other problems. Many problems encountered in
machining can be overcome by application of good machining principles. In each process,
a technology is developed by many years of research & practice.

Terminology & Analysis of transfer lines with no Internal storage:

There are a few assumptions that we will have to make about the operation of the
Transfer line & rotary indexing machines:
7. The workstations perform operations such as machining & not assembly.
8. Processing times at each station are constant though they may not be equal.
9. There is synchronous transfer of parts.
10. No internal storage of buffers.
In the operation of an automated production line, parts are introduced into the first
workstation & are processed and transported at regular intervals to the succeeding
stations. This interval defines the ideal cycle time, Tc of the production line. Tc is the
processing time for the slowest station of the line plus the transfer time; i.e. :

Tc = max (Tsi) + Tr ---------------- (1)

Tc = ideal cycle on the line (min)

Tsi = processing time at station (min)
Tr = repositioning time, called the transfer time (min)

In equation 1, we use the max (Tsi) because the longest service time establishes the pace
of the production line. The remaining stations with smaller service times will have to wait
for the slowest station. The other stations will be idle.

In the operation of a transfer line, random breakdowns & planned stoppages

cause downtime on the line.

Common reasons for downtime on an Automated Production line:

4. Tool failures at workstations.
5. Tool adjustments at workstations
6. Scheduled tool charges
7. Limit switch or other electrical malfunctions.

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 2. Mechanical failure of a workstation.
3. Mechanical failure of a transfer line.
4. Stock outs of starting work parts.
5. Insufficient space for completed parts.
6. Preventive maintenance on the line worker breaks.

The frequency of the breakdowns & line stoppages can be measured even though they
occur randomly when the line stops, it is down for a certain average time for each downtime
occurrence. These downtime occurrences cause the actual average production cycle time of
the line to be longer than the ideal cycle time.

The actual average production time Tp:

Tp = Tc + FTd ------------------------ 2
F = downtime frequency, line stops / cycle
Td = downtime per line stop in minutes
The downtime Td includes the time for the repair crew to swing back into action,
diagnose the cause of failure, fix it & restart the drive.

FTd = downtime averaged on a per cycle basis

Production can be computed as a reciprocal of Tp

Rp = 1 ----------------------------- 3
Tp
Where, Rp = actual average production rate (pc / min)
Tp = the actual average production time
The ideal production rate is given by

Rc = 1 ------------------------------ 4
Tc
Where Rc = ideal production rate (pc / min)

Production rates must be expressed on an hourly basis on automated production lines.

The machine tool builder uses the ideal production rate, Rc, in the proposal for the
automated transfer line & calls it as the production rate at 100% efficiency because of
downtime. The machine tool builder may ignore the effect of downtime on production
rate but it should be stated that the amount of downtime experienced on the line is the
responsibility of the company using the production line.
Line efficiency refers to the proportion of uptime on the line & is a measure of
reliability more than efficiency.
Line efficiency can be calculated as follows:

E = Tc = Tc + FTd ----------------- 5
Tp Tc

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 Where E = the proportion of uptime on the production line.

An alternative measure of the performance is the proportion of downtime on the line

which is given by:

D = FTd = FTd + FTd ----------------- 6

Tp Tc
Where D = proportion of downtime on the line

E + D = 1.0

An important economic measure of the performance of an automated production line is the

cost of the unit produced. The cost of 1 piece includes the cost of the starting blank that is
to processed, the cost of time on the production line & the cost of the tool consumed. The
cost per unit can be expressed as the sum of three factors:

Cpc = Cm + CoTp + Ct ------------------------ 7

Where Cpc = cost per piece (Rs / pc)
Cm = cost per minute to operate the time (Rs / min)
Tp = average production time per piece (min / pc)
Ct = cost of tooling per piece (Rs / pc)
Co = the allocation of capital cost of the equipment over the service life, labour to
operate the line, applicable overheads, maintenance, & other relevant costs all reduced to
cost per min.

Problem on Transfer line performance:

A 30 station Transfer line is being proposed to machine a certain component currently

produced by conventional methods. The proposal received from the machine tool builder
states that the line will operate at a production rate of 100 pc / hr at 100% efficiency. From
a similar transfer line it is estimated that breakdowns of all types will occur at a frequency
of F = 0.20 breakdowns per cycle & that the average downtime per line stop will be 8.0
minutes. The starting blank that is machined on the line costs Rs. 5.00 per part. The line
operates at a cost for 100 parts each & the average cost per tool = Rs. 20 per cutting edge.
Compute the following:
1. Production rate
2. Line efficiency
3. Cost per unit piece produced on the line

Solution:

2. At 100% efficiency, the line produces 100 pc/hr. The reciprocal gives the unit
time or ideal cycle time per piece.

Tc = 1 = 0.010hr / pc = 0.6 mins

100

The average production time per piece is given by:

DEPARTMENT OF MECHANICAL ENGINEERING

 Tp = Tc + FTd
1. 0.60 + 0.20 (8.0)
2. 0.60 + 1.60
3. 2.2 mins / piece
Rp = 1 / 2.2m = 0.45 pc / min = 27 pc / hr

Efficiency is the ratio of the ideal cycle time to actual production time

E = 0.6 / 2.2
4. 27 %

Tooling cost per piece

Ct = (30 tools) (Rs 20 / tool)

parts
2. Rs. 6 / piece

The hourly ratio of Rs 100 / hr to operate the line is equivalent to Rs. 1.66 / min.

Cpc = 5 + 1.66 (2.2) + 6

4. 5 + 3.65 + 6
5. Rs 14.65 / piece

Upper Bound Approach:

The upper bound approach provides an upper limit on the frequency on the line stops per
cycle. In this approach we assume that the part remains on the line for further processing.
It is possible that there will be more than one line stop associated with a given part during
its sequence of processing operations. Let
Pr = probability or frequency of a failure at station i where i = 1, 2,………. η
Station i where i = 1, 2, ……………. η

Since a part is not removed from the line when a station jam occurs it is possible that the
part will be associated with a station breakdown at every station. The expected number of
lines stops per part passing through the line is obtained by summing the frequencies Pi
over the n stations. Since each of the n stations is processing a part of each cycle, then the
expected frequency of line stops per cycle is equal to the expected frequency of line stops
per part i.e.
η
F = ∑ Pi ----------------------------- 8
i=1
where F = expected frequency of line stops per cycle
Pi = frequency of station break down per cycle, causing a line stop
1. = number of workstations on the line
If all the Pi are assumed equal, which is unlikely but useful for computation purposes, then

F = η.p where all the Pi are equal ---------------- 9

p = p = ………….. p =p
1 2 η

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 Lower Bound Approach:

The lower bound approach gives an estimate of the lower limit on the expected frequency
of line stops per cycle. Here we assume that a station breakdown results in destruction of
the part, resulting in removal of the part from the line & preventing its subsequent
processing at the remaining workstations.

Let Pi = the probability that the workpiece will jam at a particular station i.

Then considering a given part as it proceeds through the line, Pi = probability that the
part will jam at station 1
(1 - Pi) = probability that the part will not jam station 1 & thus will
available for processing at subsequent stations. A jam at station 2 is contingent on
successfully making it through station 1 & therefore the probability that the same part will
jam at station 2 is given by
P (1 – P )
3. 2

Generalising the quantity

P (1 – Pi - 1) (1 – Pi - 2) = (1 – P2) (1 – P1)
Where i = 1,,2, ………. η
is the probability that a given part will jam at any station i. Summing all these probabilities
from i = 1 through i = η gives the probability or frequency of line stops per cycle.

Probability that the given part will pass through all η stations without a line stop is
η
π (1 - Pi)
i=1

Therefore the frequency of line stops per cycle is:

η
F = 1 – π (1 - Pi) --------------------------------- 10
i=1
If all the probabilities, Pi, are equal, Pi = P, then
η
F = 1 - (1 - P)

Because of parts removal in the lower bound approach, the number of parts coming of
the line is less than the number launched onto the front of the line.
If F= frequency of line stops & a part is removed for every line stop, then the proportion
of parts produced is (1 - F). This is the yield of the production line. The production rate
equation then becomes:

Rap = 1 – F --------------------------------------- 11
Tp
where Rap = average actual production rate of acceptable parts from the line
Tp = average cycle rate of the transfer machine
Rp = 1 = average cycle rate of the system
Tp

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 Example 2 Upper Bound v/s Lower Bound Approach

A 2 station transfer line has an ideal cycle time of Tc = 1.2 mins. The probability of
station breakdown per cycle is equal for all stations & P = 0.005 breakdowns / cycle. For
each of the upper bound & lower bound determine:
2. frequency of line stops per cycle
3. average actual production rate
4. line efficiency

1. For the Upper bound approach

F = 20 (0.005) = 0.10 lines per cycle
20 20
F = 1 - (1 – 0.005) = 1 – (0.995)
1. 1 – 0.0946
2. 0.0954 line stops per cycle
For the Upper bound approach the production rate,

Rp = 1
20
1. 0.500 pc / min
2. 30 pc /hr
For the lower bound approach the production time we calculate by using the formula for
F Tp = Tc + F (Td)
1. 1.2 + 0.0954 (0.8)
2. 1.9631 mins

Production rate = 0.9046

1.9631
2. 0.4608 pc / min
3. 27.65 pc / hr
The production rate is about 8% lower than that we computed by the upper bound approach.
We should note that:
Rp = 1
0.9631
1. 0.5094 cycles / min
2. 30.56 cycles / hr
which is slightly higher than in the upper bound case.

c) For the upper bound the line efficiency will be

E = 1.2
2.0
1. 0.6
2. 60 %
For the lower bound approach we have

E = 1.2
1.9631
3. 0.6113
4. 61.13 %

DEPARTMENT OF MECHANICAL ENGINEERING

 Line efficiency is greater with lower bound approach even though production rate is lower.
This is because lower bound approach leaves fewer parts remaining on the line to jam.

Analysis of Transfer Lines with Storage Buffers:

In an automated production line with no internal storage of parts, the workstations

are interdependent. When one station breaks down all other stations on the line are
affected either immediately or by the end of a few cycles of operation. The other stations
will be forced to stop for one or two reasons 1) starving of stations 2) Blocking of stations
Starving on an automated production line means that a workstation is prevented from
performing its cycle because it has no part to work on. When a breakdown occurs at any
workstation on the line, the stations downstream from the affected station will either
immediately or eventually become starved for parts.

Blocking means that a station is prevented from performing its work cycle because it
cannot pass the part it just completed to the neighbouring downstream station. When a
break down occurs at a station on the line, the stations upstreams from the affected station
become blocked because the broken down station cannot accept the next part for processing
from the neighbouring upstream station. Therefore none of the upstream stations can pass
their just completed parts for work.

By Adding one or more parts storage buffers between workstations production lines
can be designed to operate more efficiently. The storage buffer divides the line into stages
that can operate independently for a number of cycles.
The number depending on the storage capacity of the buffer
If one storage buffer is used, the line is divided into two stages.
If two storage buffers are used at two different locations along the line, then a
three stage line is formed.
The upper limit on the number of storage buffers is to have a storage between every pair
of adjacent stations.
The number of stages will then be equal to the number of workstations.
For an η stage line, there will be η – 1 storage buffers. This obviously will not include the
raw parts inventory at the front of the line or the finished parts inventory that accumulates
at the end of the line.
Consider a two – stage transfer line, with a storage buffer separating the stages. If we
assume that the storage buffer is half full. If the first stage breaks down, the second stage
can continue to operate using parts that are in the buffer. And if the second stage breaks
down, the first stage can continue to operate because it has the buffer to receive its output.
The reasoning for a two stage line can be extended to production lines with more than
two stages.

Limit of Storage Buffer Effectiveness:

Two extreme cases of storage buffer effectiveness can be identified:

1. No buffer storage capacity at all.
2. Infinite capacity storage buffers
If we assume in our Analysis that the ideal cycle time Tc is the same for all
stages considered.

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 In the case of no storage capacity, the production line acts as one stage when a station
breaks down the entire line stops. This is the case of a production line with no
internal storage.
The line efficiency of a zero capacity storage buffer:
Eo = Tc --------------------------------- 12
Tc + FTd

The opposite extreme is the case where buffer zones of infinite capacity are installed
between every pair of stages. If we assume that each storage buffer is half full, then each
stage is independent of the next. The presence of the internal storage buffer means that
then no stage will ever be blocked or starved because of a breakdown at some other stage.
An infinite capacity storage buffer cannot be realized in practice. If it could then
the overall line efficiency will be limited by the bottleneck stage.
i.e. production in all other stages would ultimately be restricted by the slowest stage. The
downstream stages could only process parts at the output rate of the bottleneck stage.
Given that the cycle time Tc is the same for all the stages the efficiency for any
stage k is given by:

Ek = Tc
Tc + F Td
kk

where k is used to identify the stage.

The overall line efficiency would be given by:

E = Minimum (E )
∞ k

where the subscript ∞ identifies E as the efficiency of a line whose storage buffers have
∞
infinite capacity.
By including one or more storage buffers in an automated production line, we expect to
improve the line efficiency above E , but we cannot expect to achieve E .
0 ∞
The actual value of line efficiency will fall somewhere between these extremes for a
given buffer capacity

E <E <E
0 b ∞
Analysis of a Two stage transfer line:

The two stage line is divided by a storage buffer of capacity is expressed in terms of the
number of work parts that it can store. The buffer receives the output of stage 1 & forwards it to
stage 2, temporarily storing any parts not immediately needed by stage 2 upto its capacity b.
The ideal cycle time Tc is the same for both stages. We assume the downtime distributions of
each stage to be the same with mean downtime = Td, let F 1 & F2
be the breakdown rates of stages 1 & 2 respectively.
F1 & F2 are not necessarily equal.

DEPARTMENT OF MECHANICAL ENGINEERING

 Over the long run both stages must have equal efficiencies. If the efficiency of stage 1 is
greater than the efficiency of stage 2 then inventory would build up on the storage
buffer until its capacity is reached.
Thereafter stage 1 would eventually be blocked when it outproduced stage 2.
Similarly if the efficiency of stage 2 is greater than the efficiency of stage 1 the
inventory would get depleted thus stage 2 would be starved.
Accordingly the efficiencies would tend to equalize overtime in the two stages.
The overall efficiency for the two stage line can be expressed as:
1
E = E + {D η (b) } E 13
b0 1 2

where Eb = overall efficiency for a two stage line with a buffer capacity

2. = line efficiency for the same line with no internal storage buffer
0
1
{ D η (b) } E represents the improvement in efficiency that results from having a 1

storage buffer with b > 0

when b = 0
E = Tc ----------------------------------14
2. Tc + (F + F ) Td
12
1
The term D can be thought of as the proportion of total time that stage 1 is down
1

1
D = F Td
1 1 15-----------------------------------------
Tc + (F + F ) Td
1. 2

The term h (b) is the proportion of the downtime D'1 (when the stage 1 is down) that stage
2 could be up & operating within the limits of storage buffer capacity b. The equations
cover several different downtime distributions based on the assumption that both stages are
never down at the same time. Four of these equations are presented below:

Assumptions & definitions: Assume that the two stages have equal downtime distributions
(Td1 = Td2 = Td) &
equal cycle times (Tc1 = Tc2 = Tc).
Let F1 = downtime frequency for stage 1, & F2 = downtime frequency for stage 2. Define
r to be the ration of breakdown frequencies as follows:

r = F 1 ------------------- 16 F2

Equations for h(b) :

With these definitions & assumptions, we can express the relationships for h(b)for
two theoretical downtime distributions :

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 Constant downtime:
Each downtime occurrence is assumed to be of constant duration Td. this is a case of
no downtime variation. Given buffer capacity b, define B & L as follows:

b = B Td + L --------------- 17
Tc

Where B is the largest integer satisfying the relation : b Tc ≥ B,

Td
& L represents the leftover units, the amount by which b exceeds B Td .
Tc
There are two cases:

Case 1: r=1.0.h(b)
= B + LTc 1 --------18
B+1 Td (B+1)(B+2)

Case 2: r≠1.0.h(b)
=r1 - rB+L T c rB(1 - r)2 -----19
Td (1 – r ) (1 – rB+2)
B+1

Geometric downtime distribution:

In this downtime distribution, the probability that repairs are completed during cycle
duration Tc, is independent of the time since repairs began. This a case of maximum
downtime variation. There are two cases:
Case 1: r = 1.0.h(b)
c-----------------
B T--
= Td 20
2 + (b – 1) T c
Td
Case 2: r ≠ 1.0.
1 + r - Tc
Define K = T d --------------- 21
1 + r – r Tc
Td

Then h(b) = r (1 - Kb) -------------- 22 1-

b
rK

Finally, E2 corrects for the assumption in the calculation of h (b) that both stages
are never down at the same time. This assumption is unrealistic. What is more realistic is
that when stage 1 is down but stage 2 could be producing because of parts stored in the
buffer, there will be times when stage 2 itself breaks down. Therefore E2 provides an
estimate of the proportion of stage 2 uptime when it could be otherwise be operating even
with stage 1 being down. E2 is calculated as:

E2 = Tc --------------- 23 Tc + F2Td

DEPARTMENT OF MECHANICAL ENGINEERING

 Two-Stage Automated Production Line:

A 20-station transfer line is divided into two stages of 10 stations each. The ideal cycle time of
each stage is Tc = 1.2 min. All of the stations in the line have the same probability of stopping,
p = 0.005. We assume that the downtime is constant when a breakdown occurs, Td
3. 8.0 min. Using the upper-bound approach, compute the line efficiency for the
following buffer capacities: (a) b = 0, (b) b = ∞, (c) b = 10, (d) b = 100

Solution:

F = np = 20(0.005) = 0.10

E0 = 1.2 = 0.60
1.2 + 0.1(8)

1. For a two stage line with 20 stations (each stage = 10 stations) & b = ∞, we
first compute F:

F1 = F2 = 10(0.005) = 0.05

E ∞ = E1 = E2 = 1.2 = 0.75
1.2 + 0.05(8)

1. For a two stage line with b = 10, we must determine each of the items in equation
13. We have E0 from part (a). E0 = 0.60. And we have E2 from part (b). E2 = 0.75

D'1 = 0.05 (8) = 0.40 = 0.20

1.2 + (0.05 + 0.05) (8) 2.0

Evaluation of h(b) is from equation 18 for a constant repair distribution. In equation 17,
the ratio

Td = 8.0 = 6.667.
Tc 1.2
For b = 10, B = 1 & L = 3.333.

Thus,
h(b) = h(10)
= 1 + 3.333 (1.2) 1
1+1 (8.0) (1 + 1)(1 + 2)
3. 0.50 + 0.8333 = 0.5833 We
can now use equation 13:

E10 = 0.600 + 0.20 (0.5833) (0.75)

= 0.600 + 0.0875 = 0.6875

DEPARTMENT OF MECHANICAL ENGINEERING

 1. For b = 100, the only parameter in equation 13 that is different from part (c) is
h(b). for b = 100, B = 15 & L = 0 in equation 18. Thus, we have:

h(b ) = h(100) = 15
15 + 1
20. 0.9375
Using this value,

E100 = 0.600 + 0.20 (0.9375) (0.75)

= 0.600 + 0.1406 = 0.7406

The value of h(b) not only serves its role in equation 13 but also provides information on
how much improvement in efficiency we get from any given value of b. note in example
15 that the difference between E∞ & E0 = 0.75 – 0.60 = 0.15.
For b = 10, h(b) = h(10) = 0.58333, which means we get 58.33% of the maximum
possible improvement in line efficiency using a buffer capacity of 10 {E10 = 0.6875 =
0.60 + 0.5833)(0.75 – 0.60)}.
For b = 100, h(b) = h(100) = 0.9375, which means we get 93.75% of the maximum
improvement with b = 100 {E100 = 0.7406 = 0.60 + 0.9375 (0.75 – 0.60)}
We are not only interested in the line efficiencies of a two stage production line.
We also want to know the corresponding production rates. These can be evaluated based
on knowledge of the ideal cycle time Tc & the definition of line efficiency. According to
equation 5, E = Tc / Tp. Since Rp = the reciprocal of Tp, then E = TcRp. Rearranging this
we have:

Rp = E ------------------- 24
Tc

Production Rates on the Two-Stage Line of the example above:

Compute the production rates for the 4 cases in the above example. The value
of Tc = 1.2 min is as before.

Solution:

2. For b = 0, E0 = 0.60. Applying equation 23, we have

Rp = 0.60/ 1.2 = 0.5 pc/min = 30 pc /hr.

3. For b = ∞, E∞ = 0.75.

Rp = 0.75 / 1.2 = 0.625 pc / min = 37.5 pc /hr

(c) For b = 10, E10 = 0.6875.

Rp = 0.6875 / 1.2 = 0.5729 pc / min = 34.375 pc /hr.

(d) For b = 100, E100 = 0.7406

DEPARTMENT OF MECHANICAL ENGINEERING

 Rp = 0.7406 / 1.2 = 0.6172 pc / min = 37.03 pc / hr

Effect of High Variability in Downtimes:

Evaluate the line efficiencies for the two-stage line in above example, except that
the geometric repair distribution is used instead of the constant downtime distribution.

Solution:
For parts (a) & (b), the values of E 0 & E∞ will be the same as in the
previous example. E0 = 0.600 & E∞ = 0.750.

1 For b = 10, all of the parameters in equation 13 remain the same except

h(b). Using equation 20, we have:

h(b) = h(10) = 10(1.2/8.0) = = 0.4478

2 + (10 - 1)(1.2/8.0)

Now using equation 13, we have

E10 = 0.600 + 0.20 (0.4478)(0.75)

= 0.6672

(d)For b = 100, it will be:

h(b) = h(100) = 100(1.2/8.0) = 0.8902

2 + (100 - 1)(1.2/8.0)

E100 = 0.600 + 0.20 (0.8902)(0.75)

= 0.7333

Transfer Lines with More thanTwo Stages:

If the line efficiency of an automated production line can be increased by dividing it into
two stages with a storage buffer between, then one might infer that further improvements
in performance can be achieved by adding additional storage buffers. Although we do not
exact formulas for computing line efficiencies for the general case of any capacity b for
multiple storage buffers, efficiency improvements can readily be determined for the case of
infinite buffer capacity.

Transfer Lines with more than One Storage Buffer:

For the same 20-station transfer line we have been considering in the previous examples,
compare the line efficiencies & production rates for the following cases, where in each case the
buffer capacity is infinite: (a) no storage buffers, (b) one buffer, (c) three buffers, &

DEPARTMENT OF MECHANICAL ENGINEERING

 19 buffers. Assume in cases (b) & (c) that the buffers are located in the line to equalise
the downtime frequencies; i.e. all Fi are equal. As before, the computations are based on
the upper-bound approach.

Solution:
(a) For the case of no storage buffer, E∞ = 0.60

Rp = 0.60/1.2 = 0.50 pc/min = 30 pc/hr

2. For the case of one storage buffer

(a two stage line), E∞ = 0.75

Rp = 0.75/1.2 = 0.625 pc/min = 37.5 pc/hr

(c) For the case of three storage buffers (a four stage line), we have

F1 = F2 = F3 = F4 = 5(0.005) = 0.025

Tp = 1.2 + 0.025(8) = 1.4 min / pc.

E∞ = 1.2 / 1.4 = 0.8571

Rp = 0.8571/1.2 = 0.7143 pc/min

= 42.86 pc/hr.

(d) For the case of 19 storage buffers (a 20 stage line, where each stage is one station),
we have

F1 = F2 = ….. = F20 = 1(0.005) = 0.005

Tp = 1.2 + 0.005(8) = 1.24 min / pc.

E∞ = 1.2 / 1.24 = 0.9677

Rp = 0.9677/1.2 = 0.8065 pc/min

= 48.39 pc/hr.

This last value is very close to the ideal production rate of Rc = 50 pc/hr

Problem:

Suppose that a 10 station transfer machine is under consideration to produce a component

used in a pump. The item is currently produced by mass conventional means but demand
for the item cannot be met. The manufacturing engineering department has estimated that
the ideal cycle time will be
Tc = 1.0 min. From similar transfer lines & that the average downtime for line stop
occur with a frequency;

DEPARTMENT OF MECHANICAL ENGINEERING

 F = 0.10 breakdown/cycle & the average downtime per line stop will be 6.0 min. The
scrap rate for the current conventional processing method is 5% & this is considered a
good estimate for a transfer line. The starting costing for the component costs Rs. 1.50
each & it will cost Rs 60.00 / hr or Rs 1 / min to operate the transfer line. Cutting tools are
estimated to cost Rs 0.15/ work part. Compute the following measures of line performance
given the foregoing data.

(a) Production rate

(b) Number of hours required to meet a demand of 1500 units/week.
(c) Line efficiency
(d) Cost per unit produced.

Problem:

If a line has 20 work stations each with a probability of breakdown of 0.02, the cycle time
of the line is 1 min & each time a breakdown occurs, it takes exactly 5 minutes to repair.
The line is to be divided into two stages by a storage buffer so that each stage will consist of
10 stations. Compute the efficiency of the two stage line for various buffer capacities.

Solution:

Let us compute the efficiency of the line with no buffer

F = np = 20(0.02) =0.4
Eo = 1.0 = 0.20
1.0+0.4(10)

Next dividing the line into equal stages by a buffer zone of infinite capacity each
stage would have an efficiency given by
F1 = F2 = 10 (0.02) = 0.2
E1 = E2 = Tc = 1.0 = 0.333
Tc + (F1+F2)Td 1.0+ 0.2(10)

d) The cost per product can be computed except that we must account for the scrap rate.
Cpc = 1 (1.50+1.00 x 1.60 + 0.15) = Rs.3.42/good unit
0.95

The Rs.3.42 represents the average cost per acceptable product under the assumption that
we are discarding the 5% bad units with no salvage value and no disposal cost. Suppose that
we could repair these parts at a cost of Rs.5.00/unit. To compute the cost per piece the
repair cost would be added to other components.
Cpc = 1.50 + 1.00 x 1.60 + 0.15 + 0.05 (5.00) = Rs. 3.50/unit.
The policy of scrapping the 5% defects ,yields a lower cost per unit rather than
repairing them.

DEPARTMENT OF MECHANICAL ENGINEERING

 Problem:

An eight station rotary indexing machine operates with an ideal cycle time of 20 secs. The
frequency of line stop occurrences is 0.06 stop / cycle on the average. When a stop occurs
it takes an average of 3 min to make repairs. Determine the following:

1. Average production time 3. Line efficiency

2. Proportion of downtime 4. Average production rate
Solution
Tp = Tc + F ( Td)
= 0.33 + 0.06(3)
= 0.5133 minutes.
Rp = 1 = 1.94 pieces /minutes
0.5133
Line efficiency = Tc = 0.333 = 0.491
Tp 0.51
Proportion of downtime can be calculated by D = F Td = 0.06(3) = 0.35
Tp 0.5133

Partial Automation:

Many assembly lines in industry contain a combination of automated & manual work
stations. These cases of partially automated production lines occur for two main reasons:

1. Automation is introduced gradually on an existing manual line.

Suppose that demand for the product made on a manually operated line increases, & it is
desired to increase production & reduce labour costs by automating some or all of the stations.
The simpler operations are automated first, & the transition toward a fully automated line is
accomplished over a long period of time. Meanwhile, the line operates as a partially automated
system.
2. Certain manual operations are too difficult or too costly to automate.
Therefore, when the sequence of workstations is planned for the line, certain stations are designed to
be automated, whereas the others are designed as manual stations.

Examples of operations that might be too difficult to automate are assembly

procedures or processing steps involving alignment, adjustment, or fine-tuning of the
work unit. These operations often require special human skills and/or senses to carry
out. Many inspection procedures also fall into this category. Defects in a product or
a part that can be easily perceived by a human inspector are sometimes extremely
difficult to identify by an automated inspection device. Another problem is that the
automated inspection device can only check for the defects for which it was
designed, whereas a human inspector is capable of sensing a variety of unanticipated
imperfections & problems.

To analyze the performance of a partially automated production line,

we build on our previous analysis & make the following assumptions:
1. Workstations perform either processing or assembly operations;

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2. Processing & assembly times at automated stations are constant, though
not necessarily equal at all stations;
3. Synchronous transfer of parts;
4. No internal buffer storage ;
5. The upper bound approach is applicable &
6. Station breakdowns occur only at automated stations.
Breakdowns do not occur at manual workstations because the human workers are
flexible enough, we assume, to adapt to the kinds of disruptions & malfunctions that
would interrupt the operation of an automated workstation. For example, if a human
operator were to retrieve a defective part from the parts bin at the station, the part
would immediately be discarded & replaced by another without much lost time. Of
course, this assumption of human adaptability is not always correct, but our analysis
is based on it.
The ideal cycle time Tc is determined by the slowest stations on the line,
which is generally one of the manual stations. If the cycle time is in fact determined
by a manual station, then Tc will exhibit a certain degree of variability simply
because there is a random variation in any repetitive human activity. However, we
assume that the average Tc remains constant over time. Given our assumption that
breakdowns occur only at automated stations, let na = the number of automated
stations & Td = average downtime per occurrence. For the automated stations that
perform processing operations, let pi = the probability (frequency) of breakdowns
per cycle; & for automated stations that perform assembly operations, let qi & mi
equal, respectively, the defect rate & probability that the defect will cause station i to
stop. We are now in a position to define the average actual production time:

Tp = Tc + ∑ piTd --------- 25
iєna
where the summation applies to the na automated stations only. For those
automated stations that perform assembly operations in which a part is added,

pi = miqi

If all pi, mi, & qi are equal, respectively to p, m, & q, then the preceding
equations reduce to the following:

Tp = Tc +napTd ---------- 26

and p = mq for those stations that perform assembly consisting of the addition of
a part.
Given that na is the number of automated stations, then nw = the number
of stations operated by manual workers, & na + nw = n, where n = the total station
count. Let Casi = cost to operate the automatic workstation i ($ / min), Cwi = cost
to operated manual workstation
i ($ / min), Cat = cost to operate the automatic transfer mechanism. Then the
total cost to operate the line is given by:

Co = Cat + ∑Casi + ∑Cwi -------- 27

iєna iєnw

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 where Co = cost or operating the partially automated production system ($ / min).
For all Casi = Cas & all
Cwi = Cw, then
Co = Cat + naCas + nwCw -------- 28

Now the total cost per unit produced on the line can be calculated as follows:

Cpc = Cm + CoTp + Ct ---------- 29

Pap

Where Cpc = cost per good assembly ($ / pc), Cm = cost of materials &
components being processed & assembled on the line ($ / pc),
Co = cost of operating the partially automated production system by either of
the equations 27 or 28
($ / min), Tp = average actual production time (min / pc), Ct = any cost of
disposable tooling ($ / pc), & Pap = proportion of good assemblies.

Problem on Partial Automation:

It has been proposed to replace one of the current manual workstations with
an automatic work head on a ten-station production line. The current line has six
automatic stations & four manual stations. Current cycle time is 30 sec. The
limiting process time is at the manual station that is proposed for replacement.
Implementing the proposal would allow the cycle time to be reduced to 24 sec. The
new station would cost $0.20/min. Other cost data: Cw = $0.15/min,
Cas = $0.10/min, & Cat = $0.12/min. Breakdowns occur at each automated station
with a probability p = 0.01. The new automated station is expected to have the
same frequency of breakdowns. Average downtime per occurrence Td = 3.0min,
which will be unaffected by the new station. Material costs & tooling costs will be
neglected in the analysis. It is desired to compare the current line with the proposed
change on the basis of production rate & cost per piece. Assume a yield of 100%
good product.

Solution:

For the current line,

Tc = 30 sec = 0.50min.
Tp = 0.50 + 6(0.01)(3.0) = 0.68 min.
Rp = 1/0.68 = 1.47 pc/min = 88.2pc/hr
Co = 0.12 + 4(0.15) + 6 (0.10)
= $1.32 / min
Cpc = 1.32 (0.68) = $0.898 / pc

For the proposed line,

Tc = 24 sec = 0.4 min.
Rp = 1/0.61 = 1.64 pc/min = 98.4pc/hr
Co = 0.12 + 3(0.15)+ 6(0.10)+ 1(0.20)

DEPARTMENT OF MECHANICAL ENGINEERING

 = $1.37/min
Cpc = 1.67(0.61) = $0.836 / pc

Even though the line would be more expensive to operate per unit time, the
proposed chage would increase production rate & reduced piece cost.

Storage Buffers:

The preceding analysis assumes no buffer storage between stations. When

the automated portion of the line breaks down, the manual stations must also stop
for lack of work parts (either due to starving or blocking, depending on where the
manual stations are located relative to the automated stations). Performance would
be improved if the manual stations could continue to operate even when the
automated stations stop for a temporary downtime incident. Storage buffers located
before & after the manual stations would reduce forced downtime at these stations.

Problem on Storage Buffers on a Partially Automated Line:

Considering the current line in the above example, suppose that the ideal cycle time
for the automated stations on the current line Tc = 18 sec. The longest manual time
is 30 sec. Under the method of operation assumed in the above example both manual
& automated stations are out of action when a breakdown occurs at an automated
station. Suppose that storage buffers could be provided for each operator to insulate
them from breakdowns at automated stations. What effect would this have on
production rate & cost per piece?

Solution:

Given Tc = 18sec = 0.3min, the average actual production time on the

automated stations is computed as follows:

Tp = 0.30 + 6(0.01)(3.0) = 0.48min

Since this is less than the longest manual time of 0.50, the manual operation could
work independently of the automated stations if storage buffers of sufficient
capacity were placed before & after each manual station. Thus, the limiting cycle
time on the line would be
Tc = 30sec = 0.50 min, & the corresponding production rate would be:

Rp = Rc = 1/0.50 = 2.0pc/min
= 120.0 pc/hr

Using the line operating cost from the previous example, Co = $1.32/min, we have
a piece cost of

Cpc = 1.32 (0.50) = $0.66 / pc

Comparing with the previous example, we can see that a dramatic improvement
in production rate & unit cost is achieved through the use of storage buffers.

DEPARTMENT OF MECHANICAL ENGINEERING

 Problem on Partial Automation:

A partially automated production line has a mixture of three mechanized

& three
manual workstations. There are a total of six stations, & the ideal cycle time
Tc = 1.0
min, which includes a transfer time Tr = 6 sec. Data on the six stations are
listed in
the following table. Cost of the transfer mechanism Cat = $0.10/min, cost to
run each
automated station Cas = $ 0.12/min, & labour cost to operate each
manual station
Cw = $ 0.17 /min. It has been proposed to substitute an automated
station in place of
station 5. The cost of this station is estimated at
Cas5 = $ 0.25 / min, & its breakdown rate P5 = 0.02, but its process
time would be only 30 sec, thus reducing the overall cycle time of the
line from 1.0 min to 36 sec. Average downtime per breakdown of the
current line as well as the proposed configuration is Td = 3.5 min.
Determine the following for the current line & the proposed line: (a)
production rate, (b) proportion uptime, & (c) cost per unit. Assume the
line operates without storage buffers, so when an automated station
stops, the whole line stops, including the manual stations. Also, in
computing costs, neglect material & tooling costs.

Station Type Process Time (sec) pi

1 Manual 36 0
2 Automatic 15 0.01
3 Automatic 20 0.02
4 Automatic 25 0.01
5 Manual 54 0
6 Manual 33 0

Solution : Tc = 1.0 min

Tp = 1.0 + 2(0.01)x3.5 + 1( 0.02) x 3.5 = 1.14 mins
Rp = 1 = 0.877 pcs /min x 60 = 52.65 pcs / hr
1.14
Cp = 0.12 + 3(0.17) + 3(0.10) = $ 0.93/mins
Cpc = 0.93x 1.14 = $1.062/piece
For the proposed line Tc = 36 secs = 0.6 mins
Tp = 0.6 + 2(0.01)3.5 + 2(0.02)3.5 = 0.81 mins
Rp = 1.234 pieces / min = 74.07 pieces/hr
Cp = 0.012 + 2(0.17) + 3(0.10) + 1(0.25)
= $ 0.902/min Cpc = 0.90 x 0.81 mins = $
0.73062/piece

DEPARTMENT OF MECHANICAL ENGINEERING

 UNIT II
INDUTRIAL APPLICATIONS
 UNIT III
ASSEMBLY SYSTEM AND LINE BALANCING
Objective:

 To perform one or more processing and/or assembly operations on a starting raw

material, part, or set of parts.
Outcome:
 Worker-and-machine combination or a worker using hand tools

Assembly system and line balancing: Assembly process and systems assembly line, line
balancing methods, ways of improving line balance, flexible assembly lines

UNIT- III

ANALYSIS OF AUTOMATED FLOW LINE & LINE BALANCING

General Terminology & Analysis:

There are two problem areas in analysis of automated flow lines which must be addressed:
R Process Technology
R Systems Technology
Process Technology refers to the body of knowledge about the theory & principles of the
particular manufacturing process used on the production line. E.g. in the manufacturing
process, process technology includes the metallurgy & machinability of the work material,
the correct applications of the cutting tools, chip control, economics of machining,
machine tools alterations & a host of other problems. Many problems encountered in
machining can be overcome by application of good machining principles. In each process,
a technology is developed by many years of research & practice.

Terminology & Analysis of transfer lines with no Internal storage:

There are a few assumptions that we will have to make about the operation of the
Transfer line & rotary indexing machines:
1. The workstations perform operations such as machining & not assembly.
2. Processing times at each station are constant though they may not be equal.
3. There is synchronous transfer of parts.
4. No internal storage of buffers.
In the operation of an automated production line, parts are introduced into the first
workstation & are processed and transported at regular intervals to the succeeding
stations. This interval defines the ideal cycle time, Tc of the production line. Tc is the
processing time for the slowest station of the line plus the transfer time; i.e. :

Tc = max (Tsi) + Tr ---------------- (1)

Tc = ideal cycle on the line (min)

Tsi = processing time at station (min)
Tr = repositioning time, called the transfer time (min)

DEPARTMENT OF MECHANICAL ENGINEERING

In equation 1, we use the max (Tsi) because the longest service time establishes the pace
of the production line. The remaining stations with smaller service times will have to wait
for the slowest station. The other stations will be idle.

In the operation of a transfer line, random breakdowns & planned stoppages

cause downtime on the line.

Common reasons for downtime on an Automated Production line:

1. Tool failures at workstations.
2. Tool adjustments at workstations
3. Scheduled tool charges
4. Limit switch or other electrical malfunctions.

DEPARTMENT OF MECHANICAL ENGINEERING

 1. Mechanical failure of a workstation.
2. Mechanical failure of a transfer line.
3. Stock outs of starting work parts.
4. Insufficient space for completed parts.
5. Preventive maintenance on the line worker breaks.

The frequency of the breakdowns & line stoppages can be measured even though they
occur randomly when the line stops, it is down for a certain average time for each downtime
occurrence. These downtime occurrences cause the actual average production cycle time of
the line to be longer than the ideal cycle time.

The actual average production time Tp:

Tp = Tc + FTd ------------------------ 2
F = downtime frequency, line stops / cycle
Td = downtime per line stop in minutes
The downtime Td includes the time for the repair crew to swing back into action,
diagnose the cause of failure, fix it & restart the drive.

FTd = downtime averaged on a per cycle basis

Production can be computed as a reciprocal of Tp

Rp = 1 ----------------------------- 3
Tp
Where, Rp = actual average production rate (pc / min)
Tp = the actual average production time
The ideal production rate is given by

Rc = 1 ------------------------------ 4
Tc
Where Rc = ideal production rate (pc / min)

Production rates must be expressed on an hourly basis on automated production lines.

The machine tool builder uses the ideal production rate, Rc, in the proposal for the
automated transfer line & calls it as the production rate at 100% efficiency because of
downtime. The machine tool builder may ignore the effect of downtime on production
rate but it should be stated that the amount of downtime experienced on the line is the
responsibility of the company using the production line.
Line efficiency refers to the proportion of uptime on the line & is a measure of
reliability more than efficiency.
Line efficiency can be calculated as follows:

E = Tc = Tc + FTd ----------------- 5
Tp Tc

DEPARTMENT OF MECHANICAL ENGINEERING

Where E = the proportion of uptime on the production line.

An alternative measure of the performance is the proportion of downtime on the line

which is given by:

D = FTd = FTd + FTd ----------------- 6

Tp Tc
Where D = proportion of downtime on the line

E + D = 1.0

An important economic measure of the performance of an automated production line is the

cost of the unit produced. The cost of 1 piece includes the cost of the starting blank that is
to processed, the cost of time on the production line & the cost of the tool consumed. The
cost per unit can be expressed as the sum of three factors:

Cpc = Cm + CoTp + Ct ------------------------ 7

Where Cpc = cost per piece (Rs / pc)
Cm = cost per minute to operate the time (Rs / min)
Tp = average production time per piece (min / pc)
Ct = cost of tooling per piece (Rs / pc)
Co = the allocation of capital cost of the equipment over the service life, labour to
operate the line, applicable overheads, maintenance, & other relevant costs all reduced to
cost per min.

Problem on Transfer line performance:

A 30 station Transfer line is being proposed to machine a certain component currently

produced by conventional methods. The proposal received from the machine tool builder
states that the line will operate at a production rate of 100 pc / hr at 100% efficiency. From
a similar transfer line it is estimated that breakdowns of all types will occur at a frequency
of F = 0.20 breakdowns per cycle & that the average downtime per line stop will be 8.0
minutes. The starting blank that is machined on the line costs Rs. 5.00 per part. The line
operates at a cost for 100 parts each & the average cost per tool = Rs. 20 per cutting edge.
Compute the following:
1. Production rate
2. Line efficiency
3. Cost per unit piece produced on the line

Solution:

2. At 100% efficiency, the line produces 100 pc/hr. The reciprocal gives the unit
time or ideal cycle time per piece.

Tc = 1 = 0.010hr / pc = 0.6 mins

100

The average production time per piece is given by:

DEPARTMENT OF MECHANICAL ENGINEERING

 Tp = Tc + FTd
1. 0.60 + 0.20 (8.0)
2. 0.60 + 1.60
3. 2.2 mins / piece
Rp = 1 / 2.2m = 0.45 pc / min = 27 pc / hr

Efficiency is the ratio of the ideal cycle time to actual production time

E = 0.6 / 2.2
4. 27 %

Tooling cost per piece

Ct = (30 tools) (Rs 20 / tool)

parts
2. Rs. 6 / piece

The hourly ratio of Rs 100 / hr to operate the line is equivalent to Rs. 1.66 / min.

Cpc = 5 + 1.66 (2.2) + 6

4. 5 + 3.65 + 6
5. Rs 14.65 / piece

Upper Bound Approach:

The upper bound approach provides an upper limit on the frequency on the line stops per
cycle. In this approach we assume that the part remains on the line for further processing.
It is possible that there will be more than one line stop associated with a given part during
its sequence of processing operations. Let
Pr = probability or frequency of a failure at station i where i = 1, 2,………. η
Station i where i = 1, 2, ……………. η

Since a part is not removed from the line when a station jam occurs it is possible that the
part will be associated with a station breakdown at every station. The expected number of
lines stops per part passing through the line is obtained by summing the frequencies Pi
over the n stations. Since each of the n stations is processing a part of each cycle, then the
expected frequency of line stops per cycle is equal to the expected frequency of line stops
per part i.e.
η
F = ∑ Pi ----------------------------- 8
i=1
where F = expected frequency of line stops per cycle
Pi = frequency of station break down per cycle, causing a line stop
1. = number of workstations on the line
If all the Pi are assumed equal, which is unlikely but useful for computation purposes, then

F = η.p where all the Pi are equal ---------------- 9

p = p = ………….. p =p
1 2 η

DEPARTMENT OF MECHANICAL ENGINEERING

Lower Bound Approach:

The lower bound approach gives an estimate of the lower limit on the expected frequency
of line stops per cycle. Here we assume that a station breakdown results in destruction of
the part, resulting in removal of the part from the line & preventing its subsequent
processing at the remaining workstations.

Let Pi = the probability that the workpiece will jam at a particular station i.

Then considering a given part as it proceeds through the line, Pi = probability that the
part will jam at station 1
(1 - Pi) = probability that the part will not jam station 1 & thus will
available for processing at subsequent stations. A jam at station 2 is contingent on
successfully making it through station 1 & therefore the probability that the same part will
jam at station 2 is given by
P (1 – P )
3. 2

Generalising the quantity

P (1 – Pi - 1) (1 – Pi - 2) = (1 – P2) (1 – P1)
Where i = 1,,2, ………. η
is the probability that a given part will jam at any station i. Summing all these probabilities
from i = 1 through i = η gives the probability or frequency of line stops per cycle.

Probability that the given part will pass through all η stations without a line stop is
η
π (1 - Pi)
i=1

Therefore the frequency of line stops per cycle is:

η
F = 1 – π (1 - Pi) --------------------------------- 10
i=1
If all the probabilities, Pi, are equal, Pi = P, then
η
F = 1 - (1 - P)

Because of parts removal in the lower bound approach, the number of parts coming of
the line is less than the number launched onto the front of the line.
If F= frequency of line stops & a part is removed for every line stop, then the proportion
of parts produced is (1 - F). This is the yield of the production line. The production rate
equation then becomes:

Rap = 1 – F --------------------------------------- 11
Tp
where Rap = average actual production rate of acceptable parts from the line
Tp = average cycle rate of the transfer machine
Rp = 1 = average cycle rate of the system
Tp

DEPARTMENT OF MECHANICAL ENGINEERING

 Example 2 Upper Bound v/s Lower Bound Approach

A 2 station transfer line has an ideal cycle time of Tc = 1.2 mins. The probability of
station breakdown per cycle is equal for all stations & P = 0.005 breakdowns / cycle. For
each of the upper bound & lower bound determine:
2. frequency of line stops per cycle
3. average actual production rate
4. line efficiency

1. For the Upper bound approach

20 20
F = 1 - (1 – 0.005) = 1 – (0.995)
1. 1 – 0.0946
2. 0.0954 line stops per cycle
For the Upper bound approach the production rate,

Rp = 1
20
1. 0.500 pc / min
2. 30 pc /hr
For the lower bound approach the production time we calculate by using the formula for
F Tp = Tc + F (Td)
1. 1.2 + 0.0954 (0.8)
2. 1.9631 mins

Production rate = 0.9046

1.9631
2. 0.4608 pc / min
3. 27.65 pc / hr
The production rate is about 8% lower than that we computed by the upper bound approach.
We should note that:
Rp = 1
0.9631
1. 0.5094 cycles / min
2. 30.56 cycles / hr
which is slightly higher than in the upper bound case.

c) For the upper bound the line efficiency will be

E = 1.2
2.0
1. 0.6
2. 60 %
For the lower bound approach we have

E = 1.2
1.9631
3. 0.6113
4. 61.13 %

DEPARTMENT OF MECHANICAL ENGINEERING

Line efficiency is greater with lower bound approach even though production rate is lower.
This is because lower bound approach leaves fewer parts remaining on the line to jam.

Analysis of Transfer Lines with Storage Buffers:

In an automated production line with no internal storage of parts, the workstations

are interdependent. When one station breaks down all other stations on the line are
affected either immediately or by the end of a few cycles of operation. The other stations
will be forced to stop for one or two reasons 1) starving of stations 2) Blocking of stations
Starving on an automated production line means that a workstation is prevented from
performing its cycle because it has no part to work on. When a breakdown occurs at any
workstation on the line, the stations downstream from the affected station will either
immediately or eventually become starved for parts.

Blocking means that a station is prevented from performing its work cycle because it
cannot pass the part it just completed to the neighbouring downstream station. When a
break down occurs at a station on the line, the stations upstreams from the affected station
become blocked because the broken down station cannot accept the next part for processing
from the neighbouring upstream station. Therefore none of the upstream stations can pass
their just completed parts for work.

By Adding one or more parts storage buffers between workstations production lines
can be designed to operate more efficiently. The storage buffer divides the line into stages
that can operate independently for a number of cycles.
The number depending on the storage capacity of the buffer
If one storage buffer is used, the line is divided into two stages.
If two storage buffers are used at two different locations along the line, then a
three stage line is formed.
The upper limit on the number of storage buffers is to have a storage between every pair
of adjacent stations.
The number of stages will then be equal to the number of workstations.
For an η stage line, there will be η – 1 storage buffers. This obviously will not include the
raw parts inventory at the front of the line or the finished parts inventory that accumulates
at the end of the line.
Consider a two – stage transfer line, with a storage buffer separating the stages. If we
assume that the storage buffer is half full. If the first stage breaks down, the second stage
can continue to operate using parts that are in the buffer. And if the second stage breaks
down, the first stage can continue to operate because it has the buffer to receive its output.
The reasoning for a two stage line can be extended to production lines with more than
two stages.

Limit of Storage Buffer Effectiveness:

Two extreme cases of storage buffer effectiveness can be identified:

1. No buffer storage capacity at all.
2. Infinite capacity storage buffers
If we assume in our Analysis that the ideal cycle time Tc is the same for all
stages considered.

DEPARTMENT OF MECHANICAL ENGINEERING

In the case of no storage capacity, the production line acts as one stage when a station
breaks down the entire line stops. This is the case of a production line with no
internal storage.
The line efficiency of a zero capacity storage buffer:
Eo = Tc --------------------------------- 12
Tc + FTd

The opposite extreme is the case where buffer zones of infinite capacity are installed
between every pair of stages. If we assume that each storage buffer is half full, then each
stage is independent of the next. The presence of the internal storage buffer means that
then no stage will ever be blocked or starved because of a breakdown at some other stage.
An infinite capacity storage buffer cannot be realized in practice. If it could then
the overall line efficiency will be limited by the bottleneck stage.
i.e. production in all other stages would ultimately be restricted by the slowest stage. The
downstream stages could only process parts at the output rate of the bottleneck stage.
Given that the cycle time Tc is the same for all the stages the efficiency for any
stage k is given by:

Ek = Tc
Tc + F Td
kk

where k is used to identify the stage.

The overall line efficiency would be given by:

E = Minimum (E )
∞ k

where the subscript ∞ identifies E as the efficiency of a line whose storage buffers have
∞
infinite capacity.
By including one or more storage buffers in an automated production line, we expect to
improve the line efficiency above E , but we cannot expect to achieve E . 0
∞
The actual value of line efficiency will fall somewhere between these extremes for a
given buffer capacity

E <E <E
0 b ∞
Analysis of a Two stage transfer line:

The two stage line is divided by a storage buffer of capacity is expressed in terms of the
number of work parts that it can store. The buffer receives the output of stage 1 & forwards it to
stage 2, temporarily storing any parts not immediately needed by stage 2 upto its capacity b.
The ideal cycle time Tc is the same for both stages. We assume the downtime distributions of
each stage to be the same with mean downtime = Td, let F 1 & F2
be the breakdown rates of stages 1 & 2 respectively.
F1 & F2 are not necessarily equal.

DEPARTMENT OF MECHANICAL ENGINEERING

Over the long run both stages must have equal efficiencies. If the efficiency of stage 1 is
greater than the efficiency of stage 2 then inventory would build up on the storage
buffer until its capacity is reached.
Thereafter stage 1 would eventually be blocked when it outproduced stage 2.
Similarly if the efficiency of stage 2 is greater than the efficiency of stage 1 the
inventory would get depleted thus stage 2 would be starved.
Accordingly the efficiencies would tend to equalize overtime in the two stages.
The overall efficiency for the two stage line can be expressed as:
1
E = E + {D η (b) } E 13
b0 1 2

where Eb = overall efficiency for a two stage line with a buffer capacity

2. = line efficiency for the same line with no internal storage buffer
0
1
{ Dη (b) } E represents the improvement in efficiency that results from having a 1

storage buffer with b > 0

when b = 0
E = Tc ----------------------------------14
2. Tc + (F + F ) Td
12
1
The term D can be thought of as the proportion of total time that stage 1 is down
1

1
D = F Td
1 1 15-----------------------------------------
Tc + (F + F ) Td
1. 2

The term h (b) is the proportion of the downtime D'1 (when the stage 1 is down) that stage
2 could be up & operating within the limits of storage buffer capacity b. The equations
cover several different downtime distributions based on the assumption that both stages are
never down at the same time. Four of these equations are presented below:

Assumptions & definitions: Assume that the two stages have equal downtime distributions
(Td1 = Td2 = Td) &
equal cycle times (Tc1 = Tc2 = Tc).
Let F1 = downtime frequency for stage 1, & F2 = downtime frequency for stage 2. Define
r to be the ration of breakdown frequencies as follows:

r = F 1 ------------------- 16 F2

Equations for h(b) :

With these definitions & assumptions, we can express the relationships for h(b)for
two theoretical downtime distributions :

DEPARTMENT OF MECHANICAL ENGINEERING

Constant downtime:
Each downtime occurrence is assumed to be of constant duration T d. this is a case of
no downtime variation. Given buffer capacity b, define B & L as follows:

b = B Td + L --------------- 17
Tc

Where B is the largest integer satisfying the relation : b Tc ≥ B,

Td
& L represents the leftover units, the amount by which b exceeds B Td .
Tc
There are two cases:

Case 1: r=1.0.h(b)
= B + LTc 1 --------18
B+1 Td (B+1)(B+2)

Case 2: r≠1.0.h(b)
=r1 - rB+L T c rB(1 - r)2 -----19
Td (1 – r ) (1 – rB+2)
B+1

Geometric downtime distribution:

In this downtime distribution, the probability that repairs are completed during cycle
duration Tc, is independent of the time since repairs began. This a case of maximum
downtime variation. There are two cases:
Case 1: r = 1.0.h(b)
c-----------------
B T--
= Td 20
2 + (b – 1) T c
Td
Case 2: r ≠ 1.0.
1 + r - Tc
Define K = T d --------------- 21
1 + r – r Tc
Td

Then h(b) = r (1 - Kb) -------------- 22 1-

b
rK

Finally, E2 corrects for the assumption in the calculation of h (b) that both stages
are never down at the same time. This assumption is unrealistic. What is more realistic is
that when stage 1 is down but stage 2 could be producing because of parts stored in the
buffer, there will be times when stage 2 itself breaks down. Therefore E2 provides an
estimate of the proportion of stage 2 uptime when it could be otherwise be operating even
with stage 1 being down. E2 is calculated as:

E2 = Tc --------------- 23 Tc + F2Td

DEPARTMENT OF MECHANICAL ENGINEERING

 Two-Stage Automated Production Line:

A 20-station transfer line is divided into two stages of 10 stations each. The ideal cycle time of
each stage is Tc = 1.2 min. All of the stations in the line have the same probability of stopping,
p = 0.005. We assume that the downtime is constant when a breakdown occurs, Td
3. 8.0 min. Using the upper-bound approach, compute the line efficiency for the
following buffer capacities: (a) b = 0, (b) b = ∞, (c) b = 10, (d) b = 100

Solution:

F = np = 20(0.005) = 0.10

E0 = 1.2 = 0.60
1.2 + 0.1(8)

1. For a two stage line with 20 stations (each stage = 10 stations) & b = ∞, we
first compute F:

F1 = F2 = 10(0.005) = 0.05

E ∞ = E1 = E2 = 1.2 = 0.75
1.2 + 0.05(8)

1. For a two stage line with b = 10, we must determine each of the items in equation
13. We have E0 from part (a). E0 = 0.60. And we have E2 from part (b). E2 = 0.75

D'1 = 0.05 (8) = 0.40 = 0.20

1.2 + (0.05 + 0.05) (8) 2.0

Evaluation of h(b) is from equation 18 for a constant repair distribution. In equation 17,
the ratio

Td = 8.0 = 6.667.
Tc 1.2
For b = 10, B = 1 & L = 3.333.

Thus,
h(b) = h(10)
= 1 + 3.333 (1.2) 1
1+1 (8.0) (1 + 1)(1 + 2)
3. 0.50 + 0.8333 =
0.5833 We can now use
equation 13:

E10 = 0.600 + 0.20 (0.5833) (0.75)

= 0.600 + 0.0875 = 0.6875

DEPARTMENT OF MECHANICAL ENGINEERING

 1. For b = 100, the only parameter in equation 13 that is different from part (c) is
h(b). for b = 100, B = 15 & L = 0 in equation 18. Thus, we have:

h(b ) = h(100) = 15
15 + 1
20. 0.9375
Using this value,

E100 = 0.600 + 0.20 (0.9375) (0.75)

= 0.600 + 0.1406 = 0.7406

The value of h(b) not only serves its role in equation 13 but also provides information on
how much improvement in efficiency we get from any given value of b. note in example
15 that the difference between E∞ & E0 = 0.75 – 0.60 = 0.15.
For b = 10, h(b) = h(10) = 0.58333, which means we get 58.33% of the maximum
possible improvement in line efficiency using a buffer capacity of 10 {E10 = 0.6875 =
0.60 + 0.5833)(0.75 – 0.60)}.
For b = 100, h(b) = h(100) = 0.9375, which means we get 93.75% of the maximum
improvement with b = 100 {E100 = 0.7406 = 0.60 + 0.9375 (0.75 – 0.60)}
We are not only interested in the line efficiencies of a two stage production line.
We also want to know the corresponding production rates. These can be evaluated based
on knowledge of the ideal cycle time Tc & the definition of line efficiency. According to
equation 5, E = Tc / Tp. Since Rp = the reciprocal of Tp, then E = TcRp. Rearranging this
we have:

Rp = E ------------------- 24
Tc

Production Rates on the Two-Stage Line of the example above:

Compute the production rates for the 4 cases in the above example. The value
of Tc = 1.2 min is as before.

Solution:

2. For b = 0, E0 = 0.60. Applying equation 23, we have

Rp = 0.60/ 1.2 = 0.5 pc/min = 30 pc /hr.

3. For b = ∞, E∞ = 0.75.

Rp = 0.75 / 1.2 = 0.625 pc / min = 37.5 pc /hr

(c) For b = 10, E10 = 0.6875.

Rp = 0.6875 / 1.2 = 0.5729 pc / min = 34.375 pc /hr.

(d) For b = 100, E100 = 0.7406

DEPARTMENT OF MECHANICAL ENGINEERING

 Rp = 0.7406 / 1.2 = 0.6172 pc / min = 37.03 pc / hr

Effect of High Variability in Downtimes:

Evaluate the line efficiencies for the two-stage line in above example, except that
the geometric repair distribution is used instead of the constant downtime distribution.

Solution:
For parts (a) & (b), the values of E 0 & E∞ will be the same as in the
previous example. E0 = 0.600 & E∞ = 0.750.

1 For b = 10, all of the parameters in equation 13 remain the same

except h(b). Using equation 20, we have:

h(b) = h(10) = 10(1.2/8.0) = = 0.4478

2 + (10 - 1)(1.2/8.0)

Now using equation 13, we have

E10 = 0.600 + 0.20(0.4478)(0.75)

= 0.6672

(d)For b = 100, it will be:

h(b) = h(100) = 100(1.2/8.0) = 0.8902

2 + (100 - 1)(1.2/8.0)

E100 = 0.600 + 0.20 (0.8902)(0.75)

= 0.7333

Transfer Lines with More thanTwo Stages:

If the line efficiency of an automated production line can be increased by dividing it into
two stages with a storage buffer between, then one might infer that further improvements
in performance can be achieved by adding additional storage buffers. Although we do not
exact formulas for computing line efficiencies for the general case of any capacity b for
multiple storage buffers, efficiency improvements can readily be determined for the case of
infinite buffer capacity.

Transfer Lines with more than One Storage Buffer:

For the same 20-station transfer line we have been considering in the previous examples,
compare the line efficiencies & production rates for the following cases, where in each case the
buffer capacity is infinite: (a) no storage buffers, (b) one buffer, (c) three buffers, &

DEPARTMENT OF MECHANICAL ENGINEERING

19 buffers. Assume in cases (b) & (c) that the buffers are located in the line to equalise
the downtime frequencies; i.e. all Fi are equal. As before, the computations are based on
the upper-bound approach.

Solution:
(a) For the case of no storage buffer, E∞ = 0.60

Rp = 0.60/1.2 = 0.50 pc/min = 30 pc/hr

2. For the case of one

storage buffer (a two stage line),
E∞ = 0.75

Rp = 0.75/1.2 = 0.625 pc/min = 37.5 pc/hr

(c) For the case of three storage buffers (a four stage line), we have

F1 = F2 = F3 = F4 = 5(0.005) = 0.025

Tp = 1.2 + 0.025(8) = 1.4 min / pc.

E∞ = 1.2 / 1.4 = 0.8571

Rp = 0.8571/1.2 = 0.7143 pc/min

= 42.86 pc/hr.

(d) For the case of 19 storage buffers (a 20 stage line, where each stage is one
station), we have

F1 = F2 = ….. = F20 = 1(0.005) = 0.005

Tp = 1.2 + 0.005(8) = 1.24 min / pc.

E∞ = 1.2 / 1.24 = 0.9677

Rp = 0.9677/1.2 = 0.8065 pc/min

= 48.39 pc/hr.

This last value is very close to the ideal production rate of Rc = 50 pc/hr

Problem:

Suppose that a 10 station transfer machine is under consideration to produce a component

used in a pump. The item is currently produced by mass conventional means but demand
for the item cannot be met. The manufacturing engineering department has estimated that
the ideal cycle time will be
Tc = 1.0 min. From similar transfer lines & that the average downtime for line stop
occur with a frequency;

DEPARTMENT OF MECHANICAL ENGINEERING

F = 0.10 breakdown/cycle & the average downtime per line stop will be 6.0 min. The
scrap rate for the current conventional processing method is 5% & this is considered a
good estimate for a transfer line. The starting costing for the component costs Rs. 1.50
each & it will cost Rs 60.00 / hr or Rs 1 / min to operate the transfer line. Cutting tools are
estimated to cost Rs 0.15/ work part. Compute the following measures of line performance
given the foregoing data.

(a) Production rate

(b)Number of hours required to meet a demand of 1500 units/week.
(c) Line efficiency
(d)Cost per unit produced.

Problem:

If a line has 20 work stations each with a probability of breakdown of 0.02, the cycle time
of the line is 1 min & each time a breakdown occurs, it takes exactly 5 minutes to repair.
The line is to be divided into two stages by a storage buffer so that each stage will consist of
10 stations. Compute the efficiency of the two stage line for various buffer capacities.

Solution:

Let us compute the efficiency of the line with no buffer

F = np = 20(0.02) =0.4
Eo = 1.0 = 0.20
1.0+0.4(10)

Next dividing the line into equal stages by a buffer zone of infinite capacity each
stage would have an efficiency given by
F1 = F2 = 10 (0.02) = 0.2
E1 = E2 = Tc = 1.0 = 0.333
Tc + (F1+F2)Td 1.0+ 0.2(10)

d) The cost per product can be computed except that we must account for the scrap rate.
Cpc = 1 (1.50+1.00 x 1.60 + 0.15) = Rs.3.42/good unit
0.95

The Rs.3.42 represents the average cost per acceptable product under the assumption that
we are discarding the 5% bad units with no salvage value and no disposal cost. Suppose that
we could repair these parts at a cost of Rs.5.00/unit. To compute the cost per piece the
repair cost would be added to other components.
Cpc = 1.50 + 1.00 x 1.60 + 0.15 + 0.05 (5.00) = Rs. 3.50/unit.
The policy of scrapping the 5% defects ,yields a lower cost per unit rather than
repairing them.

DEPARTMENT OF MECHANICAL ENGINEERING

Problem:

An eight station rotary indexing machine operates with an ideal cycle time of 20 secs. The
frequency of line stop occurrences is 0.06 stop / cycle on the average. When a stop occurs
it takes an average of 3 min to make repairs. Determine the following:

1. Average production time 3. Line efficiency

2. Proportion of downtime 4. Average production rate

= 0.33 + 0.06(3)
= 0.5133 minutes.
Rp = 1 = 1.94 pieces /minutes
0.5133
Line efficiency = Tc = 0.333 = 0.491
Tp 0.51
Proportion of downtime can be calculated by D = F Td = 0.06(3) = 0.35
Tp 0.5133

Partial Automation:

Many assembly lines in industry contain a combination of automated & manual work
stations. These cases of partially automated production lines occur for two main reasons:

1. Automation is introduced gradually on an existing manual line.

Suppose that demand for the product made on a manually operated line increases, &
it is desired to increase production & reduce labour costs by automating some or all
of the stations. The simpler operations are automated first, & the transition toward a
fully automated line is accomplished over a long period of time. Meanwhile, the line
operates as a partially automated system.
2. Certain manual operations are too difficult or too costly to automate.
Therefore, when the sequence of workstations is planned for the line, certain stations are
designed to be automated, whereas the others are designed as manual stations.

Examples of operations that might be too difficult to automate are assembly

procedures or processing steps involving alignment, adjustment, or fine-tuning of the
work unit. These operations often require special human skills and/or senses to carry
out. Many inspection procedures also fall into this category. Defects in a product or
a part that can be easily perceived by a human inspector are sometimes extremely
difficult to identify by an automated inspection device. Another problem is that the
automated inspection device can only check for the defects for which it was
designed, whereas a human inspector is capable of sensing a variety of unanticipated
imperfections & problems.

To analyze the performance of a partially automated production line,

we build on our previous analysis & make the following assumptions:
1. Workstations perform either processing or assembly operations;

DEPARTMENT OF MECHANICAL ENGINEERING

2. Processing & assembly times at automated stations are constant, though
not necessarily equal at all stations;
3. Synchronous transfer of parts;
4. No internal buffer storage ;
5. The upper bound approach is applicable &
6. Station breakdowns occur only at automated stations.
Breakdowns do not occur at manual workstations because the human workers are
flexible enough, we assume, to adapt to the kinds of disruptions & malfunctions that
would interrupt the operation of an automated workstation. For example, if a human
operator were to retrieve a defective part from the parts bin at the station, the part
would immediately be discarded & replaced by another without much lost time. Of
course, this assumption of human adaptability is not always correct, but our analysis
is based on it.
The ideal cycle time Tc is determined by the slowest stations on the line,
which is generally one of the manual stations. If the cycle time is in fact determined
by a manual station, then Tc will exhibit a certain degree of variability simply
because there is a random variation in any repetitive human activity. However, we
assume that the average Tc remains constant over time. Given our assumption that
breakdowns occur only at automated stations, let na = the number of automated
stations & Td = average downtime per occurrence. For the automated stations that
perform processing operations, let pi = the probability (frequency) of breakdowns
per cycle; & for automated stations that perform assembly operations, let qi & mi
equal, respectively, the defect rate & probability that the defect will cause station i to
stop. We are now in a position to define the average actual production time:

Tp = Tc + ∑ piTd --------- 25
iєna
where the summation applies to the na automated stations only. For those
automated stations that perform assembly operations in which a part is added,

pi = miqi

If all pi, mi, & qi are equal, respectively to p, m, & q, then the preceding
equations reduce to the following:

Tp = Tc +napTd ---------- 26

and p = mq for those stations that perform assembly consisting of the addition of
a part.
Given that na is the number of automated stations, then nw = the number
of stations operated by manual workers, & na + nw = n, where n = the total station
count. Let Casi = cost to operate the automatic workstation i ($ / min), Cwi = cost
to operated manual workstation
i ($ / min), Cat = cost to operate the automatic transfer mechanism. Then the
total cost to operate the line is given by:

Co = Cat + ∑Casi + ∑Cwi -------- 27

iєna iєnw

DEPARTMENT OF MECHANICAL ENGINEERING

 where Co = cost or operating the partially automated production system ($ /
min). For all Casi = Cas & all
Cwi = Cw, then
Co = Cat + naCas + nwCw -------- 28

Now the total cost per unit produced on the line can be calculated as follows:

Cpc = Cm + CoTp + Ct ---------- 29

Pap

Where Cpc = cost per good assembly ($ / pc), Cm = cost of materials &
components being processed & assembled on the line ($ / pc),
Co = cost of operating the partially automated production system by either of
the equations 27 or 28
($ / min), Tp = average actual production time (min / pc), Ct = any cost of
disposable tooling ($ / pc), & Pap = proportion of good assemblies.

Problem On Partial Automation:

It has been proposed to replace one of the current manual workstations with
an automatic work head on a ten-station production line. The current line has six
automatic stations & four manual stations. Current cycle time is 30 sec. The
limiting process time is at the manual station that is proposed for replacement.
Implementing the proposal would allow the cycle time to be reduced to 24 sec. The
new station would cost $0.20/min. Other cost data: Cw = $0.15/min,
Cas = $0.10/min, & Cat = $0.12/min. Breakdowns occur at each automated station
with a probability p = 0.01. The new automated station is expected to have the
same frequency of breakdowns. Average downtime per occurrence Td = 3.0min,
which will be unaffected by the new station. Material costs & tooling costs will be
neglected in the analysis. It is desired to compare the current line with the proposed
change on the basis of production rate & cost per piece. Assume a yield of 100%
good product.

Solution:

For the current line,

Tc = 30 sec = 0.50min.
Tp = 0.50 + 6(0.01)(3.0) = 0.68 min.
Rp = 1/0.68 = 1.47 pc/min = 88.2pc/hr
Co = 0.12 + 4(0.15) + 6 (0.10)
= $1.32 / min
Cpc = 1.32 (0.68) = $0.898 / pc

For the proposed line,

Tc = 24 sec = 0.4 min.
Rp = 1/0.61 = 1.64 pc/min = 98.4pc/hr
Co = 0.12 + 3(0.15)+ 6(0.10)+ 1(0.20)

DEPARTMENT OF MECHANICAL ENGINEERING

 = $1.37/min
Cpc = 1.67(0.61) = $0.836 / pc

Even though the line would be more expensive to operate per unit time, the
proposed chage would increase production rate & reduced piece cost.

Storage Buffers:

The preceding analysis assumes no buffer storage between stations. When

the automated portion of the line breaks down, the manual stations must also stop
for lack of work parts (either due to starving or blocking, depending on where the
manual stations are located relative to the automated stations). Performance would
be improved if the manual stations could continue to operate even when the
automated stations stop for a temporary downtime incident. Storage buffers located
before & after the manual stations would reduce forced downtime at these stations.

Problem On Storage Buffers on a Partially Automated Line:

Considering the current line in the above example, suppose that the ideal cycle time
for the automated stations on the current line Tc = 18 sec. The longest manual time
is 30 sec. Under the method of operation assumed in the above example both manual
& automated stations are out of action when a breakdown occurs at an automated
station. Suppose that storage buffers could be provided for each operator to insulate
them from breakdowns at automated stations. What effect would this have on
production rate & cost per piece?

Solution:

Given Tc = 18sec = 0.3min, the average actual production time on the

automated stations is computed as follows:

Tp = 0.30 + 6(0.01)(3.0) = 0.48min

Since this is less than the longest manual time of 0.50, the manual operation could
work independently of the automated stations if storage buffers of sufficient
capacity were placed before & after each manual station. Thus, the limiting cycle
time on the line would be
Tc = 30sec = 0.50 min, & the corresponding production rate would be:

Rp = Rc = 1/0.50 = 2.0pc/min
= 120.0 pc/hr

Using the line operating cost from the previous example, Co = $1.32/min, we have
a piece cost of

Cpc = 1.32 (0.50) = $0.66 / pc

Comparing with the previous example, we can see that a dramatic improvement
in production rate & unit cost is achieved through the use of storage buffers.

DEPARTMENT OF MECHANICAL ENGINEERING

 Problem On Partial Automation:

A partially automated production line has a mixture of three mechanized & three
manual workstations. There are a total of six stations, & the ideal cycle time Tc = 1.0
min, which includes a transfer time Tr = 6 sec. Data on the six stations are listed in
the following table. Cost of the transfer mechanism Cat = $0.10/min, cost to run each
automated station Cas = $ 0.12/min, & labour cost to operate each manual station
Cw = $ 0.17 /min. It has been proposed to substitute an automated station in place of
station 5. The cost of this station is estimated at
Cas5 = $ 0.25 / min, & its breakdown rate P5 = 0.02, but its process time would be
only 30 sec, thus reducing the overall cycle time of the line from 1.0 min to 36 sec.
Average downtime per breakdown of the current line as well as the proposed
configuration is Td = 3.5 min. Determine the following for the current line & the
proposed line: (a) production rate, (b) proportion uptime, & (c) cost per unit.
Assume the line operates without storage buffers, so when an automated station
stops, the whole line stops, including the manual stations. Also, in computing costs,
neglect material & tooling costs.

Station Type Process Time (sec) pi

1 Manual 36 0
2 Automatic 15 0.01
3 Automatic 20 0.02
4 Automatic 25 0.01
5 Manual 54 0
6 Manual 33 0

Solution : Tc = 1.0 min

Tp = 1.0 + 2(0.01)x3.5 + 1( 0.02) x 3.5 = 1.14 mins
Rp = 1 = 0.877 pcs /min x 60 = 52.65 pcs / hr 1.14
Cp = 0.12 + 3(0.17) + 3(0.10) = $ 0.93/mins
Cpc = 0.93x 1.14 = $1.062/piece
For the proposed line Tc = 36 secs = 0.6 mins
Tp = 0.6 + 2(0.01)3.5 + 2(0.02)3.5 = 0.81 mins
Rp = 1.234 pieces / min = 74.07 pieces/hr
Cp = 0.012 + 2(0.17) + 3(0.10) + 1(0.25) = $ 0.902/min
Cpc = 0.90 x 0.81 mins = $ 0.73062/piece

Transfer of Work between Work Stations:

There are two basic ways in which the work (the subassembly that is being built up)
is moved on the line between operator workstations.
1. Nonmechanical Lines. In this arrangement, no belt or conveyor is used to move
the parts between operator workstations. Instead, the parts are passed from station to
station by hand. Several problems result from this mode of operation:
Starving at stations, where the operator has completed his or her
work but must wait for parts from the preceding station.

DEPARTMENT OF MECHANICAL ENGINEERING

 Blocking of stations, where the operator has completed his or
her work but must wait for the next operator to finish the task
before passing along the part.

As a result of these problems, the flow of work on a nonmechanical line

is usually uneven. The cycle times vary, and this contributes to the
overall irregularity. Buffer stocks of parts between workstations are
often used to smooth out the production flow.
 Moving conveyor lines. These flow lines use a conveyor (e.g., a moving belt,
conveyor, chain-in-the-floor, etc.) to move the subassemblies between workstations.
The transport system can be continuous, intermittent (synchronous), or asynchronous.
Continuous transfer is most common in assembly lines, although asynchronous
transfer is becoming more popular. With the continuously moving conveyor, the
 following problems can arise:
Starving can occur as with non mechanical lines.

Incomplete items are sometimes produced when the operator is
unable to finish the current part & the next part travels right by on
the conveyor. Blocking does not occur.

Again, buffer stocks are sometimes used to overcome these problems. Also stations
overlaps can sometimes be allowed, where the worker is permitted to travel beyond the
normal boundaries of the station in order to complete work.

In the moving belt line, it is possible to achieve a higher level of control over the
production rate of the line. This is accomplished by means of the feed rate, which refers to the
reciprocal of the time interval between work parts on the moving belt. Let fp denote this feed
rate. It is measured in work pieces per time & depends on two factors: the speed with which the
conveyor moves, & the spacing of work parts along the belt. Let Vc equal the conveyor speed
(feet per minute or meters per second) & sp equal the spacing between parts on the moving
conveyor (feet or meters per work piece). Then the feed rate is determined by
fp = Vc -------------- 1
Sp

To control the feed rate of the line, raw work parts are launched onto the line at
regular intervals. As the parts flow along the line, the operator has a certain time period
during which he or she begin work on each piece. Otherwise, the part will flow past the
station. This time period is called the tolerance time Tt. It is determined by the conveyor
speed & the length of the workstation. This length we will symbolize by Ls, & it is
largely determined by the operator’s reach at the workstation. The tolerance time is
therefore defined by
Tt = Ls ----------- 2
Vc

For example, suppose that the desired production rate on a manual flow line with
moving conveyor were 60 units/h. this would necessitate a feed rate of 1 part/min. This
could be achieved by a conveyor speed of 0.6m/min & a part spacing of 0.5m. (Other
combinations of Vc & sp would also provide the same feed rate.) If the length of each
workstation were 1.5m. the tolerance time available to the operators for each work piece

DEPARTMENT OF MECHANICAL ENGINEERING

would be 3 min. It is generally desirable to make the tolerance time large to compensate
for worker process time variability.

Mode Variations:

In both nonmechanical lines & moving conveyor lines it is highly desirable to

assign work to the stations so as to equalize the process or assembly times at the
workstations. The problem is sometimes complicated by the fact that the same production
line may be called upon to process more than one type of product. This complication gives
rise to the identification of three flow line cases (and therefore three different types of line
balancing problems).
The three production situations on flow lines are defined according to the product
or products to be made on the line. Will the flow line be used exclusively to produce one
particular model? Or, will it be used to produce several different models, & if so how will
they be scheduled on line? There are three cases that can be defined in response to these
questions:

1. Single-model line. This is a specialized line dedicated to the production of a single

model or product. The demand rate for the product is great enough that the line is
devoted 100% of the time to the production of that product.
2. Batch-model line. This line is used for the production of two or more models.
Each model is produced in batches on the line. The models or products are usually
similar in the sense of requiring a similar sequence of processing or assembly
operations. It is for this reason that the same line can be used to produce the various
models.
3. Mixed-model lines. This line is also used for the production of two or more models,
but the various models are intermixed on the line so that several different
models are being produced simultaneously rather than in batches. Automobile &
truck assembly lines are examples of this case.
To gain a better perspective of the three cases, the reader might consider the
following. In the case of the batch-model line, if the batch sizes are very large, the batch-
model line approaches the case of the single-model line. If the batch sizes become very
small (approaching a batch size of 1), the batch-model line approximates to the case of
the mixed-model line.
In principle, the three cases can be applied in both manual flow lines & automated
flow lines. However, in practice, the flexibility of human operators makes the latter two
cases more feasible on the manual assembly line. It is anticipated that future automated
lines will incorporate quick changeover & programming capabilities within their designs to
permit the batch-model, & eventually the mixed-model, concepts to become practicable.
Achieving a balanced allocation of work load among stations of the line is a
problem in all three cases. The problem is least formidable for the single-model case. For
the batch-model line, the balancing problem becomes more difficult; & for the mixed-
model case, the problem of line balancing becomes quite complicated.
In this chapter we consider only the single-model line balancing problem,
although the same concepts & similar terminology & methodology apply for the batch &
mixed model cases.

DEPARTMENT OF MECHANICAL ENGINEERING

 The Line Balancing Problem:

In flow line production there are many separate & distinct processing &
assembly operations to be performed on the product. Invariably, the sequence of
processing or assembly steps is restricted, at least to some extent, in terms of the order
in which the operations can be carried out. For example, a threaded hole must be
drilled before it can be tapped. In mechanical fastening, the washer must be placed over
the bolt before the nut can be turned & tightened. These restrictions are called
precedence constraints in the language of line balancing. It is generally the case that
the product must be manufactured at some specified production rate in order to satisfy
demand for the product. Whether we are concerned with performing these processes &
assembly operations on automatic machines or manual flow lines, it is desirable to
design the line so as to satisfy all of the foregoing specifications as efficiently as
possible.
The line balancing problem is to arrange the individual processing & assembly
tasks at the workstations so that the total time required at each workstation is approximately
the same. If the work elements can be grouped so that all the station times are exactly equal,
we have perfect balance on the line & we can expect the production to flow smoothly. In
most practical situations it is very difficult to achieve perfect balance. When the
workstations times are unequal, the slowest station determines the overall production rate of
the line.
In order to discuss the terminology & relationships in line balancing, we shall
refer to the following example. Later, when discussing the various solution techniques,
we shall apply the techniques to this problem.

DEPARTMENT OF MECHANICAL ENGINEERING

 UNIT III
INDUTRIAL APPLICATIONS
 UNIT IV
AUTOMATED MATERIAL HANDLING
Objective:

 To perform a sequence of automated or mechanized assembly operations Flexible

manufacturing system (FMS)—a highly automated machine cell that produces part

Outcome:

 Understand the Automated Material handling equipments and types

Automated material handling: Types of equipment, functions, analysis and design of

material handling systems conveyor systems, automated guided vehicle systems.
Automated storage systems: Automated storage and retrieval systems; work in process
storage, interfacing handling and storage with manufacturing.

UNIT-IV
Automated Material Handling and Storage Systems

AUTOMATED MATERIAL HANDLING

INTRODUCTION
Automated material handling (AMH) systems improve efficiency of transportation, storage
and retrieval of materials. Examples are computerized conveyors, and automated storage and
retrieval systems (AS/RS) in which computers direct automatic loaders to pick and place
items. Automated guided vehicle (AGV) systems use embedded floor wires to direct
driverless vehicles to various locations in the plant. Benefits of AMH systems include quicker
material movement, lower inventories and storage space, reduced product damage and higher
labour productivity.

Objectives
After studying this unit, you should be able to understand the
 Importance of AGV in a computer-integrated manufacturing system,
 Role of industrial robots in a computer-integrated manufacturing systems, and
 Alternative for automated material handling system.

INTRODUCTION TO AGVS

A material-handling system can be simply defined as an integrated system involving such

activities as handling, and controlling of materials. Materials include all kinds of raw
material, work-in-progress, sub-assemblies, and finished assemblies. The main motto of an
effective material-handling system is to ensure that the material in the right amount is safely
delivered to the desired destination at the right time and at minimum cost. It is an integral part
of any manufacturing activity. Role of AGVs and Robots have become strategic with respect
to the modern material handling practices followed in the present day industry. The next

DEPARTMENT OF MECHANICAL ENGINEERING

section deals with the automated guided vehicles (AGVs). In Section 3.2, we have introduced
the modern industrial robots and the attributes related with them, which are essential for their
understanding.
Automated Guided Vehicles
Automated guided vehicle systems (AGVs), commonly known as driverless vehicles, are
turning out to be an important part of the automated manufacturing system. With the shift
from mass production to mid-volume and mid-variety, flexible manufacturing systems, are
increasingly in use. They require not only machine flexibility but also material-handling,
storage, and retrieval flexibility. Hence, the importance of AGVs has grown in manifold. It is
a battery-powered driverless vehicle with programming capabilities for destination, path
selection, and positioning. The AGVs belongs to a class of highly flexible, intelligent, and
versatile material-handling systems used to transport materials from various loading locations
to various unloading locations throughout the facility. The capability related to collision
avoidance is nicely inbuilt in AGVS. Therefore, the vehicle comes to a dead stop before any
damage is done to the personnel, materials, or structures. They are becoming an integral part
of flexible manufacturing system installations.
Now-a-days, AGVS are versatile in nature and possess flexible material-handling system.
They use modern microprocessor technology to guide a vehicle along a prescribed path and
makes correction if the vehicle strays from the path. A system controller receives instructions
directly from the host computer, communicates with other vehicles, and issues appropriate
commands to each vehicle. To avoid collision, communication is necessary among the
AGVs. To facilitate the communication, they are connected through a wire in the floor or by
radio.
Components of AGVS
 There are four main components of an automated guided vehicle system. They are as
follows :
 The Vehicle : It is used to move the material within the system without a human
operator.
 The Guide Path : It guides the vehicle to move along the path.
 The Control Unit: It monitors and directs system operations including feedback on
moves, inventory, and vehicles.
 The Computer Interface : It is connected with other computers and systems such as
mainframe host computer, the Automated Storage and Retrieval System (AS/RS), and
the Flexible Manufacturing System.
Different Types of AGVS
 There are different types of automated guided vehicles that are able to cater different
service requirements. The vehicle types include :
 AGVS towing vehicles
 AGVS unit load transporters
 AGVS pallet trucks
 AGVS forklift trucks
 AGVS light-load transporters
 AGVS assembly line vehicles

DEPARTMENT OF MECHANICAL ENGINEERING

The level of sophistication of the AGVS has increased to allow automatic positioning and
pickup and drop-off (P/D) of cargo, and they also perform P/D services between machining
work centers, storage racks, and the AS/RS. They are also capable of two-way travel on the
same path and real-time dispatching under the control of the computer. The different types of
AGVS are discussed in the section to follow.
AGVS Towing Vehicle
AGVS towing vehicles were the earliest variety to be introduced. A towing vehicle is an
automated guided tractor. A wide variety of tractors can be used, such as flatbed trailers,
pallet trucks, custom trailers, and bin trailers. Different types of loading equipment used for
loading and unloading the trailer include an AGV-pulled train, hand pallet truck, cranes,
forklift truck, automatic transfer equipment, manual labor, shuttle transfer, and programmed
automatic loading and unloading device.
AGVS Pallet Trucks
AGVS pallet trucks are designed to lift, maneuver, and transport palletized loads. It is used
for picking up or dropping off loads from and on to floor level, than removing the need for
fixed load stands. No special accessories are needed for loading and unloading the AGVS
pallet except that the loads should be on a pallet. It is basically used in floor-level loading and
unloading operation. Loading and unloading can be done in two ways viz. automatically or
manually. For the transportation of load, the normal course followed by the vehicle is
determined by the storage area destination. Normal operations carried out in pallet trucks are
:

(i) loads are pulled off onto a spur,

(ii) lowering of the pallet forks to the floor,
(iii) pulling out from the pallet, and
(iv) finally automatically returns empty to the loading area.
AGVS Forklift Trucks
An AGVS forklift truck has the capability to pick up and drop off palletized loads both at
floor level and on stands, and the pickup height can be different from the drop-off height.
They are capable of picking up and dropping off a palletized load automatically. It has the
ability to position its forks at any height so that conveyors or load stands with different
heights in the material-handling system can be serviced. AGVS forklift trucks are one of the
most expensive AGVS types. Therefore, they are used in the case of full automation. The
truck is accoutered with sensors at the fork end, so that it can handle high-level stacking on
its own. These systems have the advantage of greater flexibility in integrating with other
subsystems with various loading and unloading heights throughout the material handling
system.
AGVS Light Load Transporters
They are applied in handling small, light parts over a moderate distance and distribute the
parts between storage and number of work stations.
AGVS Assembly-Line Vehicles
AGVS assembly line vehicles are an acclimatization of the light-load transporters for
applications involving serial assembly processes. The guided vehicle carries major sub-
assemblies such as motors, transmissions, or even automobiles. As the vehicle moves from
one station to the next, succeeding assembly operations are performed. After the loading of
part onto the vehicle, the vehicle moves to an assembly area and stops for assembly. As the
assembly process is completed, the operator releases the vehicle that proceeds to the next

DEPARTMENT OF MECHANICAL ENGINEERING

part’s staging area for new parts. After that the vehicle moves forward to the next assembly
station. The process is repeated until the final unloading station is reached.
The main advantage of the AGVS assembly line is its lower expense and ease of installation
compared with “hard” assembly lines. The line can be easily reconfigured by altering the
guide path and by reprogramming. Variable speeds and dwell intervals can be easily
programmed into the system. However, an extensive planning and complex computer control
is needed in the case of overall integration. Some of the guiding factors determining the
functioning of the AGVS are :
(i) Guidance Systems
(ii) Routing
(iii) AGVS Control Systems
(iv) Load Transfers
(v) Interfacing with other subsystems

Next section deals with the guidance systems designed for keeping the vehicle on
predetermined path.
Guidance Systems for AGVS
The main purpose of a guidance system is to keep the vehicle in the predestinated path. The
main advantage of AGVS guidance system is that the guide path can be changed easily at low
cost compared to the high cost of modifying fixed-path equipment such as conveyors, chains,
and tow lines. Many guidance systems are available and their selection will depend on need,
application, and environmental constraints. Some of the familiar guidance systems are wire-
guided guidance system, optical guidance system, inertial guidance system, infrared guidance
system, laser guidance system, and teaching-type guidance system.
Routing of the AGVS
AGVS routing means determining how the vehicle conforms the path and takes a shortest
path between the two points. The commonly used methods are : “frequency selection method
” and the “path switch selection method ”.
AGVS Control Systems
Three types of AGVS control systems are available.
(i) Computer-controlled system
(ii) Remote dispatch control system
(iii) Manual control system

Computer Controlled System

Here, all the exchanges and AGVS vehicle movements are controlled and monitored by the
system controller. A detailed sketch of the computer-controlled system is shown in Figure
3.1. The guide path controller controls the guide path of the AGVS and transfers the
information to the AGVS process controller. Movements of AGVS vehicle are directly
controlled by the AGVS process controller.
Remote Dispatch Control System
Here, a human operator controls the movement of AGVS through a remote control station.
The control system sends destination instructions directly to the vehicle.
Manual Control System
In this type of system, the operator loads the vehicle and enters a destination into the onboard
control panel of the vehicle. The efficiency of the system depends on the skill of the operator.

DEPARTMENT OF MECHANICAL ENGINEERING

Interface with Other Subsystems
The computer-controlled system can link the AGVS materials-handling system with other
subsystems in the organisation. These subsystems include:
(i) Automated storage and retrieval systems.
(ii) Computer numerical control (CNC) machines.
(iii) Shop floor control system.
(iv) Process control equipment.
(v) Flexible manufacturing systems.

They may be linked by a distributed data processing network and the host computer. In the
distributed data processing network, the system control computers communicate with each
other directly without the intermediate or host computer.
In the next section, we will elucidate the main features considered for designing the AGVS
system.
AGVS Design Features
Many design features pertaining to AGVS are common to other material handling systems.
However, there are several special features unique to the AGVS, such as stopping accuracy,
facilities, safety, and maintenance.
A very important attribute of the AGVS system is “Stopping Accuracy” and it varies
considerably with the nature and requirements of the system. A system with automatic load
transfer requires high stopping accuracy. In case of manual load transfer, lower stopping
accuracy is required. In addition to that, unit load transporters are used for systems that
require higher accuracy. In an AGVS, the stopping accuracy is provided by the feedback of
Computer Control Systems. Stopping accuracy depends on the applications, for example, ,
1 inch or more for towing and light-load vehicles, and 3 inch for a manual system.
erfacesinttool r machine inch fo001 .0
Many considerations are undertaken while designing the AGVS, like incorporation of
automatic door-opening devices, elevators etc. Safety features such as emergency contact
bumpers and stop buttons, object detectors, automatic warning signals, and stopping devices
must be built in the AGVS. These features must be of paramount importance in the minds of
the designers so as to avoid the human injuries and damage to other equipment, materials,
and vehicle itself.

System Design of AGVS

The decision process related to the system design is very complex in nature. A number of
issues are to be addressed which includes:
(i) Guide path layout
(ii) Number of vehicles required
(iii) Flow path design
(iv) Selection of guide path type and vehicle type
(v) Type of flow path within the layout
(vi) Location and number of load transfer points and load transfer station storage
space.

DEPARTMENT OF MECHANICAL ENGINEERING

Operational issues such as the routes used by the vehicles during operation are also taken into
consideration. There must be a synergy between the operational and design features for the
successful implementation of AGVS.
Flow Path Design
The flow path design is one of the most important processes in the AGVS design. Some of
the important decisions involved in flow path design are:
(i) Type of guide path layout.
(ii) Flow path within the layout.
(iii) The number and locations of load transfer points.
(iv) Load transfer function station storage space.

Areas of application of the AGVS determine the critical issues like guide path layout, P/D
(Place and Delivery) location points, and load transfer station storage space. However, the
complexity of controls and economic considerations influence the direction of flows.
Vehicle blocking, congestion, and unloaded vehicle travel are the issues to be taken into
consideration and depend on the number of the vehicles and the requests for vehicles from
various pickup and delivery stations. Simulation is used to develop the realistic design under
aforementioned circumstances. The type of information required for developing a simulation
model would include layout of departments, aisles, location of load transfer stations, and
charts containing the material flow intensities between departments.

Automated storage and retrieval systems:

Imagine any plant/manufacturing sector without cluttered aisles, excess inventory, lost or
damaged products, inaccurate records, endless searching, climbing, bending and frustration.
Imagine a highly profitable operation that adds value and decreases expense.
AS/RS are means to high density hands free buffering of materials in distribution and
manufacturing environments. AS/RS is a complete system designed to transport, stage/store,
retrieve, and report on every item in any industrial inventory with up-to-the minute accuracy.

FUNCTIONS OF STORAGE SYSTEM AND DEFINITION OF AS/RS

An automated storage/retrieval system (AS/RS) can be defined as a storage system under
which a defined degree of automation is to be implemented to ensure precision accuracy and
speed in performing storage and retrieval operations. These automated storage and
mechanized systems eliminate human intervention in performing basic sets of operations that
includes :
 Removal of an item from a storage location automatically
 Transferring the above item to a specific processing or interface point
 After receiving an item from a processing or interface point, it is automatically stored
at a predetermined location.
AS/RS COMPONENTS AND TERMINOLOGY
An AS/RS consists of one or more storage aisles that are serviced by a
storage/retrieval (S/R) machine. The stored materials are held by storage racks of
aisles. The S/R machines are used to deliver and retrieve materials in and out of
inventory. There are one or more input/output stations in each AS/RS aisle for
delivering the material into the storage system or moving it out of the system. In

DEPARTMENT OF MECHANICAL ENGINEERING

 AS/RS terminology, the input/output stations are called pickup-and-deposit (P&D)
stations.

Storage Space
It is the three-dimensional space in the storage racks used to store a single load unit of
material.
Storage Racks
This structural entity comprises storage locations, bays and rows.
Bay
It is the height of the storage rack from floor to the ceiling.
Row
It is a series of bays placed side by side.
Aisle
It is the spacing between two rows for the machine operations of AS/RS.
Aisle Unit
It encompasses aisle space and racks adjacent to an aisle.
Storage Structure
It is the rack framework, made of fabricated steel that supports the loads contained in the
AS/RS and is used to store inventory items.
Storage/Retrieval Machine
It is used to move items in and out of inventory. An S/R machine is capable of both
horizontal and vertical movement. A rail system along the floor guides the machine and a
parallel rail at the top of the storage structure is used to maintain its alignment.
Storage Modules
These are the unit load containers used to hold the inventory items. These include pallets,
steel wire baskets and containers, pans and special drawers. These modules are generally
made to a standard base size capable of being stored in the structure and moved by the S/R
machines.
Pickup and Deposit (P/D) Stations

DEPARTMENT OF MECHANICAL ENGINEERING

P/D stations are where inventory are transferred into and out of the AS/RS. They are
generally located at the end of the aisles to facilitate easy access by the S/R machines from
the external material-handling system. The location and number of P/D stations depends upon
the origination point of incoming loads and the destination of output loads.
TYPES OF AS/RS
Several important categories of AS/RS can be distinguished based on certain features and
applications. The following are the principle types :
Unit Load AS/RS
The unit load AS/RS is used to store and retrieve loads that are palletized or stored in
standard-sized containers. The system is computer controlled. The S/R machines are
automated and designed to handle the unit load containers. Usually, a mechanical clamp
mechanism on the S/R machine handles the load. However, there are other mechanisms such
as a vacuum or a magnet-based mechanism for handling sheet metal. The loads are generally
over 500 lb per unit. The unit load system is the generic AS/RS.
Mini Load AS/RS
This system is designed to handle small loads such as individual parts, tools, and supplies that
are contained in bins or drawers in the storage system. Such a system is applicable where the
availability of space is limited. It also finds its use where the volume is too low for a full-
scale unit load system and too high for a manual system. A mini load AS/RS is generally
smaller than a unit load AS/RS and is often enclosed for security of items stored.
Deep-lane AS/RS
This is a high-density unit load storage system that is appropriate for storing large quantities
of stock. The items are stored in multi deep storage with up to 10 items in a single rack, one
load behind the next. Each rack is designed for flow-through, with input and output on the
opposite side. Machine is used on the entry side of the rack for input load and loads are
retrieved from other side by an S/R- type machine. The S/R machines are similar to unit load
S/R machine except that it has specialized functions such as controlling rack-entry vehicles.
Man-on-board AS/RS
This system allows storage of items in less than unit load quantities. Human operator rides on
the carriage of the S/R machine to pick up individual items from a bin or drawer. The system
permits individual items to be picked directly at their storage locations. This provides an
opportunity to increase system throughput. The operator can select the items and place them
in a module. It is then carried by the S/R machine to the end of the aisle or to a conveyor to
reach its destination.
Automated Item Retrieval System
This system is designed for retrieval of individual items or small product cartoons. The items
are stored in lanes rather than bins or drawers. When an item is retrieved from the front by
use of a rear-mounted pusher bar, it is delivered to the pickup station by pushing it from its
lane and dropping onto a conveyor. The supply of items in each lane is periodically
replenished and thus permitting first-in/first-out inventory rotation. After moving itself to the
correct lane, the picking head activates the pusher mechanism to release the required number
of units from storage.

DEPARTMENT OF MECHANICAL ENGINEERING

 UNIT IV
INDUTRIAL APPLICATIONS
 UNIT V
FUNDAMENTALS OF INDUSTRIAL CONTROLS
Objective:
 To know product families often consists of workstations comprising CNC machine
tools.

Outcome:
 Student gets exposure on portable power tools.

Fundamentals of Industrial controls: Review of control theory, logic controls, sensors and
actuators, Data communication and LAN in manufacturing.
Business process Re-engineering: Introduction to BPE logistics, ERP, Software configuration
of BPE.

UNIT-V
Fundamentals of Industrial controls:
Logic Control Systems
To begin the discussion of industrial logic control systems, consider the simple pneumatic
system shown in Figure LC-1. The pneumatic cylinder moves in a linear dimension until it
reaches the limit switch at the extended end. The cylinder is controlled with a simple two
position, four-way solenoid valve as shown. The solenoid valve shown is activated by an
electrical current passing through the solenoid coil. This type of simple ON/OFF
programming has traditionally been done by relay control systems.

A relay control system for the simple system of Figure LC-1 is also shown. This schematic
diagram represents a type of programming frequently referred to as "ladder logic" by
industrial electricians. The two parts of a relay are both shown in this diagram. Electrical
relays (Figure LC-2) have a control circuit and one or more sets of outputs. The coil of the
relay forms part of an electromagnet which activates a set of contacts (contacts similar to
"points" in an pre-70's auto). Electrical current passing through the coil of the relay (the
"control relay") closes one of these sets of contacts (CR-1B) which allows current to flow
through the pneumatic valve solenoid, SOL-A. Another set of contacts, CR-1A in Figure LC-
1, is used to "hold" the contacts closed once they have been energized, by providing an
alternate path for electrical current through the control relay. A momentary contact push-
button PB-1 (normally open or N.O.) is provided for initiating motion. When PB-1 is pressed,
current flows through the actuating circuit of relay CR-1, which closes the output contacts
(CR-1A and CR-1B). When PB-1 is released, these contacts remain closed due to electrical

DEPARTMENT OF MECHANICAL ENGINEERING

current path through the closed relay contacts CR-1A and the normally closed limit switch
LS-1. Relay CR-1 remains energized until the limit switch LS-1 activated by the cylinder.
Oncethis limit switch is activated, the current flow through the control relay CR-1 is
interrupted, and the contacts CR-1A and CR-1B both open. The solenoid SOL-A is de-
energized, therefore the spring shifts the solenoid back to the right position, which causes the
cylinder to retract. The circuit is inactive until a subsequent pressing of the push-button PB-1.
Figure LC-3 shows the most common components of ladder logic diagrams. Input elements
include limit switches, momentary contact push-buttons, pressure switches, manual switches,
and relay contacts. Typical outputs include solenoid coils, control relay coils, pilot lights, and
annunciators (or horns). Note that each of the inputs is available in both normally open (NO)
and normally closed (NC) configurations. This distinction is easily explained by observing
the limit switch configurations. A normally closed limit switch will carry current if it is not
activated (the "normal" state). If a normally closed limit switch is pressed, then it no longer
will carry current. A normally open limit switch is the opposite - it will not carry current
inactivated, it must be pressed to allow current to flow through it.

DEPARTMENT OF MECHANICAL ENGINEERING

Sensors
Sensor is a device that when exposed to a physical phenomenon (temperature, displacement,
force, etc.) produces a proportional output signal (electrical, mechanical, magnetic, etc.). The
term transducer is often used synonymously with sensors. However, ideally, a sensor is a
device that responds to a change in the physical phenomenon. On the other hand, a transducer
is a device that converts one form of energy into another form of energy. Sensors are
transducers when they sense one form of energy input and output in a different form of
energy. For example, a thermocouple responds to a temperature change (thermal energy) and
outputs a proportional change in electromotive force (electrical energy). Therefore, a
thermocouple can be called a sensor and or transducer.
Classification of Sensors

There are several classifications of sensors made by different authors and experts. Some are
very simple and some are very complex. The following classification of sensors may already
be used by an expert in the subject but this is a very simple classification of sensors.
In the first classification of the sensors, they are divided in to Active and Passive. Active
Sensors are those which require an external excitation signal or a power signal.
Passive Sensors, on the other hand, do not require any external power signal and directly
generates output response.
The other type of classification is based on the means of detection used in the sensor. Some
of the means of detection are Electric, Biological, Chemical, Radioactive etc.
The next classification is based on conversion phenomenon i.e. the input and the output.
Some of the common conversion phenomena are Photoelectric, Thermoelectric,
Electrochemical, Electromagnetic, Thermo optic, etc.
The final classifications of the sensors are Analog and Digital Sensors. Analog Sensors
produce an analog output i.e. a continuous output signal with respect to the quantity being
measured.
Digital Sensors, in contrast to Analog Sensors, work with discrete or digital data. The data in
digital sensors, which is used for conversion and transmission, is digital in nature.

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Different Types of Sensors
The following is a list of different types of sensors that are commonly used in various
applications. All these sensors are used for measuring one of the physical properties like
Temperature, Resistance, Capacitance, Conduction, Heat Transfer etc.
 Temperature Sensor
 Proximity Sensor
 Accelerometer
 IR Sensor (Infrared Sensor)
 Pressure Sensor
 Light Sensor
 Ultrasonic Sensor
 Smoke, Gas and Alcohol Sensor
 Touch Sensor
 Color Sensor
 Humidity Sensor
 Tilt Sensor
 Flow and Level Sensor
Temperature Sensor

One of the most common and most popular sensor is the Temperature Sensor. A Temperature
Sensor, as the name suggests, senses the temperature i.e. it measures the changes in the
temperature.

In a Temperature Sensor, the changes in the Temperature correspond to change in its physical
property like resistance or voltage.
There are different types of Temperature Sensors like Temperature Sensor ICs (like LM35),
Thermistors, Thermocouples, RTD (Resistive Temperature Devices), etc.
Temperature Sensors are used everywhere like computers, mobile phones, automobiles, air
conditioning systems, industries etc.
A simple project using LM35 (Celsius Scale Temperature Sensor) is implemented in this
project: TEMPERATURE CONTROLLED SYSTEM.

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Proximity Sensors

A Proximity Sensor is a non-contact type sensor that detects the presence of an object.
Proximity Sensors can be implemented using different techniques like Optical (like Infrared
or Laser), Ultrasonic, Hall Effect, Capacitive, etc.

Some of the applications of Proximity Sensors are Mobile Phones, Cars (Parking Sensors),
industries (object alignment), Ground Proximity in Aircrafts, etc.
Proximity Sensor in Reverse Parking is implemented in this Project: REVERSE PARKING
SENSOR CIRCUIT.
Infrared Sensor (IR Sensor)

IR Sensors or Infrared Sensor are light based sensor that are used in various applications like
Proximity and Object Detection. IR Sensors are used as proximity sensors in almost all
mobile phones.

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There are two types of Infrared or IR Sensors: Transmissive Type and Reflective Type. In
Transmissive Type IR Sensor, the IR Transmitter (usually an IR LED) and the IR Detector
(usually a Photo Diode) are positioned facing each other so that when an object passes
between them, the sensor detects the object.
The other type of IR Sensor is a Reflective Type IR Sensor. In this, the transmitter and the
detector are positioned adjacent to each other facing the object. When an object comes in
front of the sensor, the sensor detects the object.
Different applications where IR Sensor is implemented are Mobile Phones, Robots, Industrial
assembly, automobiles etc.
A small project, where IR Sensors are used to turn on street lights: STREET LIGHTS
USING IR SENSORS.
Ultrasonic Sensor

An Ultrasonic Sensor is a non-contact type device that can be used to measure distance as
well as velocity of an object. An Ultrasonic Sensor works based on the properties of the
sound waves with frequency greater than that of the human audible range.

DEPARTMENT OF MECHANICAL ENGINEERING

Using the time of flight of the sound wave, an Ultrasonic Sensor can measure the distance of
the object (similar to SONAR). The Doppler Shift property of the sound wave is used to
measure the velocity of an object.
Arduino based Range Finder is a simple project using Ultrasonic Sensor: PORTABLE
ULTRASONIC RANGE METER.

TYPES OF THE ACTUATORS

DEPARTMENT OF MECHANICAL ENGINEERING

Actuator is something that converts energy into motion. It also can be used to apply a force.
An actuator typically is a mechanical device that takes energy — usually energy that is
created by air, electricity or liquid — and converts it into some kind of motion. That motion
can be in virtually any form, such as blocking, clamping or ejecting. An actuator is the
mechanism by which an agent acts upon an environment. The agent can be either an artificial
intelligence agent or any other autonomous being (human, other animal, etc.). Actuators
typically are used in manufacturing or industrial applications and might be used in devices
such as motors, pumps, switches and valves.
Energy Sources
Perhaps the most common type of actuator is powered by air and is called a pneumatic
cylinder or air cylinder. This type of actuator is an air-tight cylinder, typically made from
metal that uses the stored energy of compressed air to move a piston when the air is released
or uncompressed. These actuators are most commonly used in manufacturing and assembly
processes. Grippers, which are used in robotics, use actuators that are driven by compressed
air to work much like human fingers. An actuator also can be powered by electricity or
hydraulics. Much like there are air cylinders, there also are electric cylinders and hydraulic
cylinders in which the cylinder converts electricity or hydraulics into motion. Hydraulic
cylinders, which use liquids, are often found in certain types of vehicles.
Electrical Actuators

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Electrical Actuator is an electromechanical device that converts electrical energy into
mechanical energy. Most electric actuators operate through the interaction of magnetic fields
and current-carrying conductors to generate force. The reverse process, producing electrical
energy from mechanical energy, is done by generators such as an alternator or a dynamo;
some electric actuators can also be used as generators, for example, a traction motor on a
vehicle may perform both tasks. Electric actuators and generators are commonly referred to
as electric machines.
Applications
Electric actuators are found in applications as diverse as industrial fans, blowers and pumps,
machine tools, household appliances, power tools, and disk drives. They may be powered by
direct current, e.g., a battery powered portable device or motor vehicle, or by alternating
current from a central electrical distribution grid or inverter. Small actuators may be found in
electric wristwatches. Medium-size motors of highly standardized dimensions and
characteristics provide convenient mechanical power for industrial uses.
The very largest electric actuators are used for propulsion of ships, pipeline compressors, and
water pumps with ratings in the millions of watts. Electric actuators may be classified by the
source of electric power, by their internal construction, by their application, or by the type of
motion they give.
Fail Safe Actuators

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Fail Safe Actuator is for larger valves with higher torque requirements, requiring reliable fail
safe operation utilizing a unique in-built air reservoir giving fail safe action without the
torque losses inherent of spring designs. By using the time proven air accumulator system,
and modern design techniques, produces air chamber modules with all the pneumatic
circuitry safety protected within. Fail safe actuators maintains the highest seen air supply
pressure within the chamber modules, to be released upon control demand.
This design also prevents closure creeping when air supply pressures drop, which occurs with
all spring return designs. Torque output is constant in the powered stroke with only a small
drop off on the fail stoke. The available torques are proportional to the air supply pressure.
Spring changes for various air supply pressures need not be made.
The fail safe actuator operates as a double acting actuator in both directions until there is a
loss of supply pressure. When this loss occurs, the compressed air stored in the chambers
powers the actuator to close the valve. This makes the fail safe actuator series suitable for use
in ON/OFF and modulating control situations while still providing the fail safe requirement.
Applications
 Wellhead
 Flow line
 Header
 Pipeline system
 Casing relief blow down valve.
DATA COMMUNICATIONS
Data communications are the exchange of data between two devices via some form of
transmission medium such as a wire cable. For data communications to occur, the
communicating devices must be part of a communication system made up of a combination
of hardware (physical equipment) and software (programs). The effectiveness of a data
communications system depends on four fundamental characteristics: delivery, accuracy,
timeliness, and jitter.
1. Delivery. The system must deliver data to the correct destination. Data must be received by
the intended device or user and only by that device or user.
2. Accuracy. The system must deliver the data accurately. Data that have been altered in
transmission and left uncorrected are unusable.
3. Timeliness. The system must deliver data in a timely manner. Data delivered late are
useless. In the case of video and audio, timely delivery means delivering data as they are
produced, in the same order that they are produced, and without significant delay. This kind
of delivery is called real-time transmission.
4. Jitter. Jitter refers to the variation in the packet arrival time. It is the uneven delay in the
delivery of audio or video packets.
Components:
A data communications system has five components.

DEPARTMENT OF MECHANICAL ENGINEERING

1. Message. The message is the information (data) to be communicated. Popular forms of
information include text, numbers, pictures, audio, and video.
2. Sender. The sender is the device that sends the data message. It can be a computer,
workstation, telephone handset, video camera, and so on.
3. Receiver. The receiver is the device that receives the message. It can be a computer,
workstation, telephone handset, television, and so on.
4. Transmission medium. The transmission medium is the physical path by which a message
travels from sender to receiver. Some examples of transmission media include twisted-pair
wire, coaxial cable, fiber-optic cable, and radio waves
5. Protocol. A protocol is a set of rules that govern data communications. It represents an
agreement between the communicating devices.

Local Area Network (LAN):

LAN is usually privately owned and links the devices in a single office, building or campus
of up to few kilometers in size. These are used to share resources (may be hardware or
software resources) and to exchange information. LANs are distinguished from other kinds of
networks by three categories: their size, transmission technology and topology.
LANs are restricted in size, which means that their worst-case transmission time is bounded
and known in advance. Hence this is more reliable as compared to MAN and WAN.
Knowing this bound makes it possible to use certain kinds of design that would not otherwise
be possible. It also simplifies network management.
.

DEPARTMENT OF MECHANICAL ENGINEERING

Local Area Network Topologies
Business process re-engineering (BPR):
Business process re-engineering (BPR) is a business management strategy, originally
pioneered in the early 1990s, focusing on the analysis and design of workflows and business
processes within an organization. BPR aimed to help organizations fundamentally rethink
how they do their work in order to dramatically improve customer service, cut operational
costs, and become world-class competitors.
BPR seeks to help companies radically restructure their organizations by focusing on the
ground-up design of their business processes. According to early BPR proponent Thomas
Davenport (1990), a business process is a set of logically related tasks performed to achieve a
defined business outcome. Re-engineering emphasized a holistic focus on business objectives
and how processes related to them, encouraging full-scale recreation of processes rather than
iterative optimization of sub-processes.

Introduction to Logistics
Logistics is the management of the flow of goods, information and resources between the
point of origin and the point of consumption. It is a business concept that evolved during the
1950s due to the increasing complexity of supplying businesses with materials and
transporting products in an increasingly globalized supply chain. The complexity led to a call
for experts in the process who are called logisticians.
Logistics can be defined as “having the right item in the right place, at the right time, in the
right quantity, at the right price and in the right condition, for the right customer”.
There are two fundamentally different forms of logistics: one optimizes a steady flow of
materials through a network of transport links and storage areas, while the other coordinates
an effective sequence of resources in order to carry out a project.
Work in logistics involves the integration of information, transportation, inventory,
warehousing, material handling, packaging, human resources and sometimes security. The
goal is to manage the life cycle of a project from birth to completion. For example, a

DEPARTMENT OF MECHANICAL ENGINEERING

logistician would have to ensure that the supply chains work so that raw materials and/or
parts arrive at a factory or on site in time and in the correct order. It would be veryinefficient
and wasteful if the roof tiles were delivered before the foundations have been dug and the
walls built on a construction site, or, if large quantities of paper were delivered to a printer
who had nowhere clean and dry to store it. These are very simple examples of an extremely
complex and detailed process.
The main functions of a qualified logistician include inventory management, purchasing,
transportation, warehousing, consultation and organizing and planning of these activities.
Logisticians combine a professional knowledge of each of these functions to coordinate
resources in an organization.
Enterprise resource planning (ERP):
Enterprise resource planning (ERP) is business process management software that allows an
organization to use a system of integrated applications to manage the business and automate
many back office functions related to technology, services and human resources.
The need for enterprise resource planning (ERP) software grew with big business’ mandate
for a centralized solution to manage all information system requirements. An ERP may
consist of many different business modules, including:
 Manufacturing
 Human Resources/Payroll
 Sales
 Inventory
 Supply Chain/Partners
 Finance and Accounting
 CRM
In short, an ERP solution allows each department or business domain to be managed centrally
while operating independently. Advantages include interoperability of data, increased
communication and increased data reliability through the use of a single database.
ERP also enhances the quality of enterprise-wide decision making. For example, a
customized order may move from the sales department to inventory control, then on to
invoicing to finance and manufacturing. By using an ERP, this type of process is an efficient
and continuous series of events that allows for easy individual order tracking.
1. Business Process Engine (BPE):
A business process engine (BPE) is a software framework that enables the execution and
maintenance of process workflows. It provides business process interaction and
communication between different data/process sources spread across one or more IT
applications and services.
A BPE is a business process management (BPM) solution component used to oversee the
technical architecture of business process integration, interlinking and interprocessing. BPE
works with all of the different application infrastructure layers, including front end,
middleware, backend and external business applications. It facilitates the integration of their
processes, inter and intra system communication, process data routing, data transformation
and merging. A BPE dynamically monitors and adjusts changes applied to data, as well as
associated processes and process workflows.
A BPE also may be used to create new business processes, business rules and deployment
capability for all connected applications without disruption or downtime.

DEPARTMENT OF MECHANICAL ENGINEERING

 UNIT V
INDUTRIAL APPLICATIONS