Papers by Keyword: Industrial Robot

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Authors: Jun Qian, Hua Bing Zhu, Shu Wang Wang, Yi Shan Zeng
Abstract: This paper describes the reconstruction process of a 3P2R type combined robot platform on the basis of a 2-axis linearly moving worktable. An additive 3-DOF manipulator installed above the worktable has one prismatic and two revolute joints by using a novel integrated ball screw and spline axis. The control system of the platform is composed of a 4-axis motion control card and a PLC. Meanwhile, this paper deduces the kinematic equations of this special combined platform for measurement. The 3P2R type platform could be used to measure 3D contour of small work piece automatically.
Authors: Shun Qing Xu
Abstract: This paper introduces operational path planning system of visual industrial robot, which could be applied to arc welding, cutting and gluing. It depicts a calibration method of camera coordinate. It gains environmental messages via the method of image acquisition. It uses the method of image procession to process the signals acquired. It fulfills robotic real-time control and offline programming. Practice has proved that this system has high repeatability precision, which can meet the challenge of arc welding, cutting and gluing, and also meet the needs of production line.
Authors: Yazhini Chitra Pradeep, Sheng Feng Zhou, Audelia G. Dharmawan, Kevin Otto, I Ming Chen, Peter Chen
Abstract: In precision robotic applications, inaccuracy in workpiece geometry has been a common problem to the precise processing of the workpiece. Due to manufacturing defects and workpiece deformation, the actual geometry of the workpiece deviates from its nominal 3D CAD model which is defined as model error. For many of the existing industrial robotic applications today, the robot path for processing the workpiece is planned based on the nominal 3D CAD model of the workpiece. Hence, the model error of the workpiece leads to error in the robot path planning eventually inducing inaccurate processing. To enhance the accuracy of the robot in processing the workpiece, a framework for in-situ model error compensation has been proposed. Prior to the processing of each workpiece, the proposed technique employs 3D optical laser scanning technology to capture the actual 3D model of the workpiece and compares it with the nominal model to establish the model errors. The nominal path of the robot initially created based on the nominal CAD model is then modified according to the model error. Thus, this step performs the in-situ model error compensation making the robotic task adaptive to the actual workpiece geometry. Experiments have been conducted to verify the proposed framework and an accuracy of up to 30 micrometers has been achieved in model error identification and compensation. The proposed technique can be employed in applications such as high precision robotic tasks, where accuracy of task execution is an important factor.
Authors: Gui Liang Chen, Ji Zhao
Abstract: Making large automatic device for polishing freeform surface of large mold has many disadvantages. We propose a new thinking of polishing large freeform surface with small mobile robot, and develop a novel small mobile polishing robot which has good maneuverability for moving on and polishing curved surface continuously. By analyzing its kinematics model, algorithm for tracking polishing path is designed, in which discrete points along planed polishing path on surface are taken as robot’s navigation points. And virtual robot view methods are designed in the tracking algorithm to avoid the oscillate phenomena. Both the simulation and field experiments prove that this type robot can satisfy the requirement of polishing process.
Authors: Christian Munzinger, Jürgen Fleischer, Gregor Stengel, Markus Schneider
Abstract: The prototype for the flying cutting of spatially curved extrusion profiles developed as part of the Collaborative Research Center Transregio 10 (SFB/TR 10) was tested as an integrated part of the overall system in first test runs. The profiles resulting from this process give proof of the potential involved in both, the novel curved profile extrusion (CPE) and the automatic supporting and cutting device. For subsequent automated processing to become possible, however, the reliably achievable accuracy of extruded profiles needs to be further improved. By the example of the extruded profiles produced so far, this article discusses potential factors that may impair profile accuracy and presents approaches and methods for the improvement of accuracy.
Authors: Li Yue Xia, Feng Hua Zhang
Abstract: According to the measurement problem of aircraft parts at maintain field, a measurement system based on industrial robot is proposed in this paper. An industry robot which carries an electronic lever indicator with communicating function to sample data, serves as main measurement actuator. The aircraft part is fixed on a revolving table, and the whole part can be measured on equivalent rotated place. Some key points, such as the kinematics model of the system, the calibration of the system and measuring approach are discussed. The experimental results demonstrate that the system is more flexible and more efficient and fit better in the maintain field with respect to traditional measurement methods.
Authors: Silviu Mihai Petrişor, Ghiţă Bârsan
Abstract: The authors of this paper wish to highlight elements specific to the dynamic calculus, the concept, optimal design and assembly of translation modules in an industrial robot architecture of serial-modular construction, a structure which possesses in its kinematic chain structure four degrees of freedom. Based on a rigorous dynamic study conducted on the mechanical structure of the TTRT type industrial robot, modelling performed using Lagrangian formalism, and, taking into account the organological design elements that are part of the translation modules (the module attached to the robotic base - MTB Sil, the module in the vertical robotic arm MTV Sil, and the module in the mechanical structure of the horizontal robotic arm - MT Sil), the authors propose an energetic method of constructive optimization of the mechatronics system, according to which, translation modules can be arranged by applying the principle of interchangeable modularity so that energy consumption be minimum and not intervene on their organology. The paper highlights the dynamic-organological algorithm proposed in order to calculate motor moments and, hence, the selection of the DC servomotors necessary for setting the translation movable systems into service.
Authors: Adrian Olaru, Serban Olaru
Abstract: The paper showed the assisted research of some new dynamic behavior parameters and his influences to the dynamic behavior of the industrial robots. The research contents the mathematical model of these new dynamic parameters, assisted theoretical simulation of the new mathematical model after applies the rheological damper and the assisted establish of the influences of the model coefficients to the characteristics parameters. In the assisted experimental research by data acquisition were established the influences of some different dampers to the dynamic behavior and was proposed one proper smart damper system with magnetorheological damper (MRD), proper neural network with some time delays and recurrent links and soft control with acquisition board. By applying this new research was possible developing the new matrix -vector form of the torsor force- moment and the research of the global dynamic damper behavior and the global dynamic compliance of the industrial robot with proper smart damper system.
Authors: Bahram Asiabanpour, He Ping Chen
Abstract: The existing building metallic prototypes from metal sheets or foil slices methods suffer some limitations, such as difficulty in making complex features and long process cycle time. The Fully Dense Freeform Fabrication (FDFF) process is a new freeform fabrication method capable of building fully dense prototypes from practically any materials in a layer-by-layer basis, which overcomes the limitations of other methods. However, layer aligning and stacking are still very challenging because aligning and stacking all thin layers takes a lot of time and effort. Therefore, an automated layer aligning and stacking system is proposed and implemented in this paper. A vision system together with a robotics system are developed to automate the FDFF process. Experiments were performed and the results demonstrate that the automated FDFF process can fundamentally improve the concept of rapid prototyping by enabling producing fully dense parts with any complexity and any solid materials for the sizes from micro scale to several feet in a very fast and low cost approach.
Authors: Xue Feng Ding
Abstract: The successful application of robotics is an important way to enhance the engineering machinery and equipment, scientific and technological content. The definition of industrial robots and Research, and simple control of industrial robots and the final flow chart is proposed to adapt to the development of machinery industry, according to the agile manufacturing strategy, and looking forward to its logical design of the development trend.
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