v
TABLE OF CONTENTS
Abstract Abstrak
Dedication Acknowledgement
Table of content List Of Table
List Of Figure List Of Abbreviation
i ii
iii iv
v ix
x xiii
1. INTRODUCTION 1.1.
Background 1.2.
Problem Statement 1.3.
Objectives of the Project 1.4.
Scopes 1.5.
Benefits of the Project
1
1 3
4 4
4
2. LITERATURE REVIEW
2.1 Storage Systems
2.2 Types of Storage Systems
2.2.1 Conventional Non-Automated Storage Methods and Equipment 2.2.1.1 Bulk Storage
2.2.1.2 Rack Systems 2.2.1.3 Shelving and Bins
2.2.1.4 Drawer Storage 2.2.2 Automated Storage System
2.2.2.1 Carousel 2.2.2.2 Automated Storage and Retrieval System ASRS
2.3 ASRS Applications
2.4 Components and Operating Features of an ASRS
2.4.1 Storage Structure
6
6 7
8 8
8 11
11 12
13 15
23 23
24
vi 2.4.2 Storage and Retrieval SR Machine
2.4.3 Storage Modules 2.4.4 Pickup-and-Deposit PD Station
2.4.5 Control System 2.5
Operation of an ASRS 2.6
Storage System Performance and Location Strategies 2.6.1 Storage System Performance
2.6.1.1 Storage Capacity 2.6.1.2 Storage Density
2.6.1.3 Accessibility 2.6.1.4 Throughput
2.6.1.5 Utilization 2.6.1.6 Reliability
2.6.2 Storage Location Strategies 2.6.2.1 Randomized Storage
2.6.2.2 Dedicated Storage 2.7
Engineering Analysis of ASRS 2.7.1 Sizing the ASRS Rack Structure
2.7.2 ASRS Throughput 2.8
Research on ASRS 2.8.1 ASRS Related Journal
2.8.2 ASRS Patents 2.9
Components Planning in S-ASRS 2.9.1 Mechanical Structure
2.9.1.1 Frame Construction 2.9.1.2 Gripper
2.9.2 Drive Train 2.9.2.1 Electrical Motors
2.9.2.2 Motor Controlling Method 2.9.3 System Controller
2.9.3.1 Programmable Logic Controller PLC 2.9.3.2 Microcontroller Unit MCU
2.9.4 Power Supply 25
26 27
27 28
29 29
30 30
30 30
31 31
31 32
32 33
33 34
37 37
41 43
43 43
47 49
49 52
53 54
55 57
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3 METHODOLOGY
3.1 Introduction
3.2 Project Planning
3.2.1 Project Gantt Chart 3.2.1.1 Title Selection
3.2.1.2 Preliminary Research Work 3.2.1.3 Problem Review
3.2.1.4 Problem Analysis 3.2.1.5 Data Collection
3.2.1.6 Data Analysis 3.2.1.7 Final Analysis
3.2.1.8 Designing, Fabricating, Analysis, and Improvement the Prototype 3.2.2 Project Flow Chart
3.2.2.1 Initial Condition 3.2.2.2 Data Collection
3.2.2.3 Literature Review 3.2.2.4 Analysis and Components Consideration
3.2.2.5 Methodology 3.2.2.6 Design and Prototyping Consideration
3.2.2.7 Project Design and Prototyping 3.2.2.8 Testing and Analyzing
3.2.2.9 Report Summation and Final Presentation 3.3
Project Tools 3.3.1 Research and Study Tools
3.3.1.1 Journals, Conference Papers, Patents, Books, and Theses 3.3.1.2 Articles, Manuals, and Magazines
3.3.1.3 Internet 3.3.1.4 Flow Chart
3.3.2 Computer-Aided Design CAD
4 DESIGN AND PROTOTYPING OF SEMI-AUTOMATED STORAGE AND RETRIEVAL SYSTEM S-ASRS
6.1 Introduction
60
60 60
61 63
63 63
63 63
64 64
64 65
65 65
67 67
68 68
68 69
69 70
70 70
71 71
71 72
74
74
viii 6.2
Bill of Materials 6.3
Mechanical Design and Prototyping of S-ASRS 6.4
Electrical Design of S-ASRS 6.4.1 Control board
6.4.2 PIC16F877A Microcontroller 6.4.3 Motor drivers
6.4.4 Keypad 6.4.5 Limit switch
6.5 S-ASRS System Operation
6.6 Program Development
5. TESTING, RESULT, AND DISCUSSION
