Papers by Keyword: Robot

Abstract: This paper deals with a natural frequency distribution of a six-axis industrial robot in order to analyze chatter vibrations in upcoming milling processes. Since the dynamic vibration behavior of the robotic system can be manipulated by changing the robot’s joint configuration, experimental modal analysis is performed to determine the natural frequencies in the entire workspace. In this study, methods of design of experiments are used to derivate a mathematical model that predicts the natural frequencies of the robotic structure for any joint configuration within the considered workspace.

Abstract: The main objective of the research work was to construct a techno-mathematical model of the robotic arm for conducting painting work, which would streamline the speed and quality of work performed with respect to material savings. For research we chose a robotic arm that is commonly used in industrial production, and adapted it for our conditions. The mathematical model is designed to find the optimal trajectory for moving the robotic arm, where the emphasis is placed on minimizing the path length of motion of the robot ́s endpoint, thus reducing overall energy consumption for the building work. First, the optimal mathematical modeling method was chosen, it was selected according to conditions and parameters of the robotic arm. Thanks to the applied method we picked the software that helped to create the algorithm. Subsequently, a computer simulation and calculation of the optimal motion using a combination of virtual circles, sine and cosine theorem, was done. Further, we checked all relevant angles and calculation of the robotic arm rotation in space for each admissible variant. The last step was the selection of the optimal trajectory of the robotic arm in 3D space.

Abstract: Contribution describes selecting and applying appropriate deployment of 3D scanners for the implementation of tasks in the realization projects. Analyzes the methods of digitizing and indexing as well as the possibility of their use for handling tasks in robotics. Well it describes the selection of a suitable 3D scanner to solve specific project.

Abstract: The article deals with problems of image capture. There are presented methods of image processing through 2D and 3D camera systems. Section dedicated to image processing refers to the possibility of using different filters images, geometric and brightness transformations.

Abstract: This paper describes the concept and implementation of a hybrid programming method for robots, which absolves working people from the specific expertise that is required for the conventional programming of robots. The method is based on a provided path point, which is presented by laser projection. The projected path points are detected and approached by the robot. By linking the path points and entering the path and transfer parameters on a tablet computer the path is programmed in a simple and easy understandable way. Afterwards the path can be executed and the produced robot program can get exported. In this way, not only the circle of people who can program a robot will be extended, but also the safety of the people improves because nobody has to stay in the immediate vicinity of the robot, while programming it.

Abstract: Rising prices and political conditions are increasing the pressure on manufacturers to increase their energy efficiency. While measures for energy intensive processes such as heating or material transformation have been researched in large number in the last year, less effort has been put into the area of robot-based operations. In contrast to that, large potentials can be expected by optimizing the load-to-weight ratio in pick-and-place or assembly tasks. This paper thus researches the energy efficiency potentials of three robot concepts. The standard serial unit is compared to a parallel robot and a hybrid approach between the two, the PARAGRIP. In addition to a review of the current state of the art, a simulation is presented demonstrating saving potentials of more than 40 per cent in an industrial application scenario.

Abstract: The continuous growth of labor Cost, Study on the flexible robotic polishing systems has important realistic meanings. In this paper, After fully understanding the requirements of designing polishing tool based on polishing technology, a robot end-effector polishing tool held by the arm of robot is designed, and the establishment of a dynamic model and the equations of motion dynamics, which to provide technical support and theoretical basis for further development and optimization of flexible robotic polishing systems.

Abstract: Stroke is the third largest cause of death in Malaysia. Different approaches including hardware development and simulation were conducted to support the conventional rehabilitation courses. New upper limb rehabilitation robot prototype was developed for this research. The prototype consists of horizontal and vertical movement exercise. The prototype was modeled and simulated using ergonomics optimization software known as AnyBody. This paper presents the analysis of human upper limb muscles during rehabilitation exercise using virtual human model. The result shows that eleven muscle areas were affected during the rehabilitation exercise using new prototype.

Abstract: The compressor blade is the key components of the aero-engine to seriously impact the air dynamic performance. However, components with complex designs specifications might pose manufacturing challenges especially when finishing processes are needed to enable their compliance with tight industrial standards for workpiece surface integrity. Information on polishing processes for such sensitive industrial applications is scarce. The paper reports on the influence of polishing methods on the surface integrity of compressor blade obtained after different polishing methods. The research focuses on identifying an “optimised” polishing method for different area that will enable finishing the compressor blade. Two (belt; bob) polishing methods have been tested to address the overall finishing of compressor blade. Although significant differences in tool life performance exist between belt and bob polishing methods, both are capable to meet the requirements of minimum workpiece surface coverage if “optimised” operating parameters are employed. This is proved that belt and bob polishing methods can be employed to enable automated overall finishing of compressor blade.

Abstract: We report on an ambitious project in the field of automation, applied to bound and free abrasive processing of precision and ultra-precision surfaces, with potentially far-reaching consequences. This involves two main aspects:- directly processing surfaces using industrial robots, and combining robots with Zeeko CNC polishing machines to automate operations that are currently manual. These form steps towards our ultimate vision of the Integrated Manufacturing Cell for bespoke optics rather than mass-produced, and manufacture of other precision surfaces including prosthetic joint implants. Projects such as the European Extremely Large Telescope provide a relevant case study, where significant numbers of high-value bespoke optics are required.