Design And Verification Of Pick And Place Arm Model By Using Petri Net

Loh, Mun Loong (2019) Design And Verification Of Pick And Place Arm Model By Using Petri Net. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

Text (24 Pages) Design And Verification Of Pick And Place Arm Model By Using Petri Net.pdf - Submitted Version Download (1MB)

Abstract

In this era of modernization, demands for industrial robotics technologies like Articulated robots, Cylindrical robots, Cartesian robots and SCARA robots are increased from days to days to improve consistency, productivity, efficiency and safety of workforce, reduce complexity and human errors.The performance of pick and place robot arm is increasing with the implementation of model checking technique in its development stage.However, the state explosion problem will be happened during the system verification since the state variables grows exponentially as the degree of freedom of the pick and place arm system increases.The first objective of this project is to design the petri net models for the pick and place arm system by using Hierarchical Petri Net Simulator.Next objective is to identify the incidence matrix of the petri net models.The last objective is to identify the structural and behavior properties of the petri net models.3 petri net models with different in state variables are designed through translating of the real-life pick and place arm mechanism. The incidence matrix of the petri net models show the releasing and accepting of the tokens from the places via activation of transitions.The structural properties which includes the invariants are identified for each petri net model. The behavior properties which includes reachability, deadlock, boundedness and reversibility are verified for each petri net model.Among 3 petri net models, model B is the best because it is deadlock-free, having the largest amount of reachable and reversible markings. Therefore, model B has the best performance compared to model A and model C. From the results, model B can be concluded that the risk for the breakdown to occur is the least among these 3.

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