As competition grows in the robot field and as more sophisticated applications emerge, it has become necessary to accurately predict robot cycle time. Especially in the area of robot assembly applications, it is necessary to estimate times to balance multi‐arm systems and to economically compare robot assembly systems to alternate methods. Using the Unimate 6000 robot system as a model and manual time methods as a guide, a robot time and motion method is developed. Three time estimating methods are discussed starting with a simple, approximate one and finishing with a detailed, accurate one. All three methods can be adapted for use with applications other than assembly and will be further evaluated in the future with other robot systems.
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