scholarly journals Mobile parallel robot machine for heavy-duty double-walled vacuum vessel assembly

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Changyang Li ◽  
Huapeng Wu ◽  
Harri Eskelinen ◽  
Haibiao Ji
Keyword(s):  
Computer Aided Design ◽  
Fusion Reactor ◽  
Mechanical Design ◽  
Industrial Robot ◽  
Parallel Robot ◽  
Tig Welding ◽  
Inert Gas ◽  
Vacuum Vessel ◽  
Content Type ◽  
Simulation And Optimization

Purpose This paper aims to present a detailed mechanical design of a seven-degrees-of-freedom mobile parallel robot for the tungsten inert gas (TIG) welding and machining processes in fusion reactor. Detailed mechanical design of the robot is presented and both the kinematic and dynamic behaviors are studied. Design/methodology/approach First, the model of the mobile parallel robot was created in computer-aided design (CAD) software, then the simulation and optimization of the robot were completed to meet the design requirements. Then the robot was manufactured and assembled. Finally, the machining and tungsten inert gas (TIG) welding tests were performed for validation. Findings Currently, the implementation of the robot system has been successfully carried out in the laboratory. The excellent performance has indicated that the robot’s mechanical and software designs are suitable for the given tasks. The quality and accuracy of welding and machining has reached the requirements. Originality/value This mobile parallel industrial robot is particularly used in fusion reactor. Furthermore, the structure of the mobile parallel robot can be optimized for different applications.

Mechanical design and error prediction of a flexible manipulator system applied in nuclear fusion environment

2017 ◽  
Vol 44 (6) ◽  
pp. 711-719 ◽  
Author(s):  
Shanshuang Shi ◽  
Huapeng Wu ◽  
Yuntao Song ◽  
Heikki Handroos
Keyword(s):  
Mechanical Design ◽  
Nuclear Fusion ◽  
Vacuum Condition ◽  
Flexible Manipulator ◽  
Error Prediction ◽  
Identification Algorithm ◽  
Vacuum Vessel ◽  
Redundant Manipulator ◽  
Content Type ◽  
Fusion Device

Purpose The purpose of this paper is to introduce a development and error modeling of a serial redundant manipulator system applied in nuclear fusion environment. Detailed mechanical design of vacuum-compatible arms and actuators are presented, and manipulator flexibility is studied through experiments and model identification algorithm to evaluate the deformation. Design/methodology/approach First, the manipulator is designed to be several modular segments to obtain enough and flexible workspace inside the fusion device with narrow and complex geometries. Joint actuators with “rotation-linear-rotation” chains are developed to provide both huge reduction ratios and vacuum sealing. The redundant manipulator system has 11 degree of freedoms in total with a storage cask system to dock with the device vacuum vessel. In addition, to improve the position accuracy, an error prediction model is built based on the experimental study and back-propagation neural network (BPNN) algorithm. Findings Currently, the implementation of the manipulator system has been successfully carried out in both atmosphere and vacuum condition. Excellent performance indicates that the mechanical design is suitable. The validation of BPNN model shows an acceptable prediction accuracy (94∼98 per cent) compared with the real measurement. Originality/value This is a special robot system which is practically used in a nuclear fusion device in China. It will allow remote inspection and maintenance of plasma facing components in the vacuum vessel of fusion device without breaking the ultra-high vacuum condition during physical experiments. Its design, mechanism and error prediction strategy have great reference values to the similar robots in vacuum and temperature applications.

Design and implementation of a mobile parallel robot for assembling and machining the fusion reactor vacuum vessel

2020 ◽  
Vol 161 ◽  
pp. 111966
Author(s):  
Changyang Li ◽  
Huapeng Wu ◽  
Harri Eskelinen ◽  
Heikki Handroos ◽  
Ming Li
Keyword(s):  
Fusion Reactor ◽  
Parallel Robot ◽  
Vacuum Vessel ◽  
Design And Implementation

The parameter identification model considering both geometric parameters and joint stiffness

2019 ◽  
Vol 47 (1) ◽  
pp. 76-81
Author(s):  
Jing Bai ◽  
Le Fan ◽  
Shuyang Zhang ◽  
Zengcui Wang ◽  
Xiansheng Qin
Keyword(s):  
Parameter Identification ◽  
Industrial Robot ◽  
Joint Stiffness ◽  
Geometric Parameters ◽  
Least Square ◽  
Experimental Result ◽  
Positional Accuracy ◽  
Content Type ◽  
The Absolute ◽  
Identification Model

Purpose Both geometric and non-geometric parameters have noticeable influence on the absolute positional accuracy of 6-dof articulated industrial robot. This paper aims to enhance it and improve the applicability in the field of flexible assembling processing and parts fabrication by developing a more practical parameter identification model. Design/methodology/approach The model is developed by considering both geometric parameters and joint stiffness; geometric parameters contain 27 parameters and the parallelism problem between axes 2 and 3 is involved by introducing a new parameter. The joint stiffness, as the non-geometric parameter considered in this paper, is considered by regarding the industrial robot as a rigid linkage and flexible joint model and adds six parameters. The model is formulated as the form of error via linearization. Findings The performance of the proposed model is validated by an experiment which is developed on KUKA KR500-3 robot. An experiment is implemented by measuring 20 positions in the work space of this robot, obtaining least-square solution of measured positions by the software MATLAB and comparing the result with the solution without considering joint stiffness. It illustrates that the identification model considering both joint stiffness and geometric parameters can modify the theoretical position of robots more accurately, where the error is within 0.5 mm in this case, and the volatility is also reduced. Originality/value A new parameter identification model is proposed and verified. According to the experimental result, the absolute positional accuracy can be remarkably enhanced and the stability of the results can be improved, which provide more accurate parameter identification for calibration and further application.

Human skill integrated motion planning of assembly manipulation for 6R industrial robot

2019 ◽  
Vol 46 (1) ◽  
pp. 171-180
Author(s):  
Yi Liu ◽  
Ming Cong ◽  
Hang Dong ◽  
Dong Liu
Keyword(s):  
Deep Learning ◽  
Motion Planning ◽  
Industrial Robot ◽  
Robotic Assembly ◽  
3D Vision ◽  
Content Type ◽  
Human Skill ◽  
Depth Images ◽  
Positioning Method ◽  
Assembly Technology

Purpose The purpose of this paper is to propose a new method based on three-dimensional (3D) vision technologies and human skill integrated deep learning to solve assembly positioning task such as peg-in-hole. Design/methodology/approach Hybrid camera configuration was used to provide the global and local views. Eye-in-hand mode guided the peg to be in contact with the hole plate using 3D vision in global view. When the peg was in contact with the workpiece surface, eye-to-hand mode provided the local view to accomplish peg-hole positioning based on trained CNN. Findings The results of assembly positioning experiments proved that the proposed method successfully distinguished the target hole from the other same size holes according to the CNN. The robot planned the motion according to the depth images and human skill guide line. The final positioning precision was good enough for the robot to carry out force controlled assembly. Practical implications The developed framework can have an important impact on robotic assembly positioning process, which combine with the existing force-guidance assembly technology as to build a whole set of autonomous assembly technology. Originality/value This paper proposed a new approach to the robotic assembly positioning based on 3D visual technologies and human skill integrated deep learning. Dual cameras swapping mode was used to provide visual feedback for the entire assembly motion planning process. The proposed workpiece positioning method provided an effective disturbance rejection, autonomous motion planning and increased overall performance with depth images feedback. The proposed peg-hole positioning method with human skill integrated provided the capability of target perceptual aliasing avoiding and successive motion decision for the robotic assembly manipulation.

The Pransky interview: Dr Yoky Matsuoka, Vice President Technology, Nest Labs

2014 ◽  
Vol 41 (6) ◽  
pp. 481-486
Author(s):  
Joanne Pransky
Keyword(s):  
Computer Science ◽  
Mechanical Engineering ◽  
Academic Career ◽  
Industrial Robot ◽  
Vice President ◽  
Early Career ◽  
Smoke Detector ◽  
Foundation Engineering ◽  
Content Type ◽  
The University

Purpose – This article is a “Q&A interview” conducted by Joanne Pransky of Industrial Robot Journal as a method to impart the combined technological, business and personal experience of a prominent, robotic industry engineer-turned entrepreneur regarding the evolution, commercialization and challenges of bringing a technological invention to market. Design/methodology/approach – The interviewee is Dr Yoky Matsuoka, the Vice President of Nest Labs. Matsuoka describes her career journey that led her from a semi-professional tennis player who wanted to build a robot tennis buddy, to a pioneer of neurobotics who then applied her multidisciplinary research in academia to the development of a mass-produced intelligent home automation device. Findings – Dr Matsuoka received a BS degree from the University of California, Berkeley and an MS and PhD in electrical engineering and computer science from the Massachusetts Institute of Technology (MIT). She was also a Postdoctoral Fellow in the Brain and Cognitive Sciences at MIT and in Mechanical Engineering at Harvard University. Dr Matsuoka was formerly the Torode Family Endowed Career Development Professor of Computer Science and Engineering at the University of Washington (UW), Director of the National Science Foundation Engineering Research Center for Sensorimotor Neural Engineering and Ana Loomis McCandless Professor of Robotics and Mechanical Engineering at Carnegie Mellon University. In 2010, she joined Google X as one of its three founding members. She then joined Nest as VP of Technology. Originality/value – Dr Matsuoka built advanced robotic prosthetic devices and designed complementary rehabilitation strategies that enhanced the mobility of people with manipulation disabilities. Her novel work has made significant scientific and engineering contributions in the combined fields of mechanical engineering, neuroscience, bioengineering, robotics and computer science. Dr Matsuoka was awarded a MacArthur Fellowship in which she used the Genius Award money to establish a nonprofit corporation, YokyWorks, to continue developing engineering solutions for humans with physical disabilities. Other awards include the Emerging Inventor of the Year, UW Medicine; IEEE Robotics and Automation Society Early Academic Career Award; Presidential Early Career Award for Scientists and Engineers; and numerous others. She leads the development of the learning and control technology for the Nest smoke detector and Thermostat, which has saved the USA hundreds of billions of dollars in energy expenses. Nest was sold to Google in 2013 for a record $3.2 billion dollars in cash.

The generation of adaptive assembly from predicting change propagation

2015 ◽  
Vol 35 (3) ◽  
pp. 269-280 ◽  
Author(s):  
Hu Qiao ◽  
Rong Mo ◽  
Ying Xiang
Keyword(s):  
Computer Aided Design ◽  
Three Dimensional ◽  
Original Method ◽  
Change Propagation ◽  
Assembly Model ◽  
Practical Application ◽  
Content Type ◽  
Design Structure ◽  
Aided Design ◽  
Practical Implications

Purpose – The purpose of this paper is to establish an adaptive assembly, to realize the adaptive changing of the models and to improve the flexibility and reliability of assembly change. For a three-dimensional (3D) computer-aided design (CAD) assembly in a changing process, there are two practical problems. One is delivering parameters’ information not smoothly. The other one is to easily destroy an assembly structure. Design/methodology/approach – The paper establishes associated parameters design structure matrix of related parts, and predicts possible propagation paths of the parameters. Based on the predicted path, structured storage is made for the affected parameters, tolerance range and the calculation relations. The study combines structured path information and all constrained assemblies to build the adaptive assembly, proposes an adaptive change algorithm for assembly changing and discusses the extendibility of the adaptive assembly. Findings – The approach would improve the flexibility and reliability of assembly change and be applied to different CAD platform. Practical implications – The examples illustrate the construction and adaptive behavior of the assembly and verify the feasibility and reasonability of the adaptive assembly in practical application. Originality/value – The adaptive assembly model proposed in the paper is an original method to assembly change. And compared with other methods, good results have been obtained.

FEASIBILITY STUDY ON JOINING DISSIMILAR ALUMINUM ALLOYS AA6061 AND AA7075 BY TUNGSTEN INERT GAS (TIG)

2015 ◽  
Vol 75 (7) ◽  
Author(s):  
Mahadzir Ishak ◽  
Nur Fakhriah Mohd Noordin ◽  
Luqman Hakim Ahmad Shah
Keyword(s):  
Aluminum Alloys ◽  
Butt Joint ◽  
Tig Welding ◽  
Inert Gas ◽  
Depth Of Penetration ◽  
Visual Appearance ◽  
Melted Zone ◽  
Dissimilar Aluminum Alloys ◽  
Aa 7075 ◽  
Filler Metals

The aim of this paper is to study the feasibility of welding dissimilar aluminum alloys AA6061 and AA7075 using different types of filler metals which are ER4043 and ER5356. The tungsten inert gas (TIG) welding method was used to butt joint these alloys. The effect of ER4043 (Si-rich) and ER5356 (Mg-rich) on weldability of the joint were studied through visual appearance, microstructures and hardness. It was found that, welding using filler ER5356 produced deeper penetration compared to filler ER4043. The depth of penetration obtained using filler ER5356 was 1.74 mm, while only 0.9 mm of penetration was obtained using ER4043. Microstructures at different zones of dissimilar TIG joints such as the fusion zone (FZ), the partially melted zone (PMZ) and the heat affected zone (HAZ) were identified. The grain size at FZ from filler ER5356 samples was finer compared to filler ER4043 which was 11.4 µm and 19.5 µm, respectively. The average hardness welding value of filler ER5356 samples was higher compared to filler ER4043 samples, which were 100HV and 86HV, respectively at HAZ of AA 6061, 110HV and 88HV, respectively at FZ, while 113HV and 85HV, respectively at HAZ of AA 7075. It can be concluded that TIG welding using the ER5356 filler yields better joint compared to ER4043.

scholarly journals Strategy for the engineering integration of the ESS accelerator

2016 ◽  
Vol 44 ◽  
pp. 1660208
Author(s):  
Nikolaos Gazis ◽  
David McGinnis ◽  
Stephen Molloy ◽  
Eugene Tanke ◽  
Carl-Johan Hardh ◽  
...  
Keyword(s):  
Information Exchange ◽  
Computer Aided Design ◽  
Mechanical Design ◽  
Technical Information ◽  
Technical Requirements ◽  
Key Issues ◽  
Spallation Source ◽  
Engineering Integration ◽  
Under Construction ◽  
Aided Design

The European Spallation Source (ESS), currently under construction in Lund, Sweden, will be the world’s most powerful source of neutrons. The goal is to deliver neutrons to users in 2019 and reach full power sometime in the middle of the following decade. One of the key issues for ESS is to develop a strategy, along with the proper innovative tools, to efficiently communicate and smoothly collaborate between divisions and groups inside ESS and with its outside collaborators, so-called In-Kind Contributors (IKC). Technical requirements related to the scope to be delivered are among the most important technical information to be exchanged. This information exchange is facilitated by using a commercial requirements management database that is accessible through the web. The physics multidisciplinary needs are linked with the engineering integration through LinacLego, which is a tool that provides all updated lattice data for the accelerator. The lattice information is then gathered and utilized to control the physical positioning of the mechanical engineering components for the accelerator. The precision for this operation is provided by a dedicated mechanical design skeleton in a Computer Aided Design (CAD) environment. Finally, the realization of all these steps is supervised in detail and continuously evaluated. In this way the required ESS machine design can be delivered, both in terms of the engineering and the physics aspects.

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