Analysis and management of anthropomorphic robots for handling, dosing and weight checking of syringes

The pharmaceutical field is a very large market that is in continuous development, and it requires automatic machines that have the possible highest production rate and the highest precision, but also that work in a sterilized environment. There are many types of machines that can work with powders or liquids. Each machine is divided into different workstations. The thesis is based on the analysis of a specified unit, that is the filler unit, of a machine referred as Injecta 36000. This machine can work only with liquids and can process syringes. The main goal is the analysis and development of the logic control to manage the anthropomorphic robot that holds nozzles head and the anthropomorphic robot that takes the product by the Feeder machine, with specific focus on the interaction of this robot with the other group machine. More precisely, the previous dosing unit is modified in order to increase the efficiency and productivity of the filler machine. The initial step of this thesis concerns the study of which components are necessary to rise the production speed. This first part is essential to find the best solution which helps meeting all possible customer requests and solving the problem that could arise. The next step is the realization of a program needed to manage the machine to obtain the best efficiency and productivity. The last phase consists in analysing the main changes that have been made with respect to the actual Injecta, verifying that the adopted solutions are able to reach the correct behaviour, through many scrupulous tests.