Analysis of the Robotic Assembling Accuracy Based on Virtual Assembly Environment

2001 ◽  
Author(s):  
Zheng Zhang ◽  
Xuebuo Luo ◽  
Cunxi Xie
Keyword(s):  
Physical Modeling ◽  
Virtual Assembly ◽  
Behavioral Modeling ◽  
Accuracy Analysis ◽  
Error Source ◽  
Mechanical Assembly ◽  
Graphical Environment ◽  
Assembly Unit ◽  
High Flexibility ◽  
D Model

Abstract Multi-degree freedom robots have many advantages including agility, heavy-loading capability and high flexibility. They play a very important role in mechanical assembly. Due to the complexity of their spatial pose, the robot assembling accuracy analysis should not be confined to the 2-D plane. This paper applies the accuracy analysis to the virtual environment by constructing accurate models of robot assembly unit such as 3-D geometrical modeling, physical modeling, and behavioral modeling. Using the interactive and 3-D graphical environment to observe and evaluate the effects of assembling process. By operating the virtual 3-D model of the robot assembly unit and simulating the assembling process in the virtual assembly environment, the influence of errors in assembly can be analyzed and the statistical value of errors can be obtained. This paper also presents the method of visualization in analyzing the robot assembling accuracy, and studies the influence of spatial pose of robot assembly on the axis-hole assembly success rate, especially the robot teaching accuracy. Through the integration of the various errors and on the basis of the assembling accuracy, the tolerance of error source can be reasonably distributed to meet the requirement for assembling accuracy, and the planning of robot assembly unit can be improved.

Functionality to Facilitate Assembly of Heavy Machines in a Virtual Environment

2000 ◽  
Author(s):  
Frank Taylor ◽  
S. Jayaram ◽  
U. Jayaram ◽  
Tatsuki Mitsui
Keyword(s):  
Real Time ◽  
Virtual Environment ◽  
Physical Modeling ◽  
Virtual Assembly ◽  
Cad Model ◽  
Cad Systems ◽  
Overhead Cranes ◽  
Heavy Machinery ◽  
Assembly Sequences ◽  
Human Hands

Abstract This paper describes a methodology for simulating the virtual assembly of heavy machinery. Heavy machinery or parts are described in this paper as objects too heavy to safely lift with two hands. Virtual assembly of heavy machinery poses special problems that are not seen in assemblies composed of parts easily manipulated with human hands. This paper identifies some of the difficulties associated with real-time virtual assembly of heavy machinery, and proposes methods for addressing these problems. We describe a method for reorganizing the assembly tree outside of traditional CAD systems to better simulate assemblies with numerous parts. This allows the user to control the assembly sequences, which are simulated in the virtual environment without changing the assembly hierarchy of the original CAD model. This paper also proposes methods for simulation of overhead cranes and the physical modeling of crane-part interactions, providing real-time virtual manipulation of heavy objects.

scholarly journals Python in proteomics

2019 ◽  
Author(s):  
Hannes L Rost
Keyword(s):  
Mass Spectrometry ◽  
Data Analysis ◽  
Open Source ◽  
Biological Sequence ◽  
Post Translational Modification ◽  
Development Environment ◽  
Spectrometric Data ◽  
Graphical Environment ◽  
High Flexibility ◽  
Prototype Software

Python is a versatile scripting language that is widely used in industry and academia. In bioinformatics, there are multiple packages supporting data analysis with Python that range from biological sequence analysis with Biopython to structural modeling and visualization with packages like PyMOL and PyRosetta, to numerical computation and advanced plotting with NumPy/SciPy. In the proteomics community, Python began to be widely used around 2012 when several mature Python packages were published including pymzML, Pyteomics and pyOpenMS. This has led to an ever-increasing interest in the Python programming language in the proteomics and mass spectrometry community. The number of publications referencing or using Python has risen eight fold since 2012 (compared with the same time period before 2012), with multiple open-source Python packages now supporting mass spectrometric data analysis and processing. Computing and data analysis in mass spectrometry is very diverse and in many cases must be tailored to a specific experiment. Often, multiple analysis steps have to be performed (identification, quantification, post-translational modification analysis, filtering, FDR analysis etc.) in an analysis pipeline, which requires high flexibility in the analysis. This is where Python truly shines, due to its flexibility, visualization capabilities and the ability to extend computation with a large number of powerful libraries. Python can be used to quickly prototype software, combine existing libraries into powerful analysis workflows while avoiding the trap of re- inventing the wheel for a new project. Here, we will describe data analysis with Python using the pyOpenMS package. An extended documentation and tutorial can also be found online at https://pyopenms.readthedocs.io. To allow the reader to follow all steps in the tutorial, we will also describe the installation process of the software. Our installation is based on Anaconda, an open- source Python distribution that includes the Spyder integrated development environment (IDE) that allows development with pyOpenMS in a graphical environment.

A staged haptic rendering approach for virtual assembly of bolted joints in mechanical assembly

2018 ◽  
Vol 96 (1-4) ◽  
pp. 161-171 ◽  
Author(s):  
Jing-Rong Li ◽  
Jia-Wu Liu ◽  
Qing-Hui Wang ◽  
Guang-Hua Hu
Keyword(s):  
Virtual Assembly ◽  
Haptic Rendering ◽  
Bolted Joints ◽  
Mechanical Assembly

Research on Virtual Assembly Technology Based on 3D Modeling Method

2010 ◽  
Vol 43 ◽  
pp. 641-646 ◽  
Author(s):  
Qian Yu
Keyword(s):  
Virtual Assembly ◽  
Modeling Method ◽  
Assembly Process ◽  
Mechanical Assembly ◽  
Virtual Technology ◽  
Support Mechanism ◽  
Feature Parameters ◽  
Technology Applications ◽  
Depth Study ◽  
Assembly Technology

Aiming at the current situation that there is lacking in-depth study on applications of virtual technology in mechanical manufacturing and assembly process control, the virtual assembly systems was researched and designed based on combining virtual reality technology with mechanical assembly process. The support mechanism of virtual assembly platform was designed based on taking shaft parts as example, and modeling method of 3D features parameters was adopted in order to build the model of virtual assembly parts, which was modeled according with the sequence as describing physical feature parameters of parts, building data structure of feature parameters and building model features library. On the basis of modeling virtual assembly platform, the key technologies of realizing the virtual assembly processing, which was from positioning issue and collision detection issue, were also analyzed, and control methods of virtual assembly processing were pointed out in detail. All is work is significative for enhancing the level of virtual technology applications, digital machinery manufacturing and assembly.

Research on Flexible Cables Simulation Based on CATIA/DELMIA

2010 ◽  
Vol 26-28 ◽  
pp. 800-804
Author(s):  
Jian Ming Shi ◽  
Dong Zhou ◽  
Jie Geng ◽  
Chuan Lv
Keyword(s):  
Virtual Assembly ◽  
Difficult Problem ◽  
Digital Design ◽  
Design Problems ◽  
Simulation Based ◽  
Flexible Cables ◽  
Virtual Maintenance ◽  
Maintenance Process ◽  
D Model

Digital design and assembly of cables is a most important and difficult problem in mechanical industry. The paper solved the problem through the CAD/CAE software. Firstly, 3-D model of electrical bundle was built in the digital mock-up. The model reflected the parameters of the bundle exactly. After the design of cables, the simulation of cable moving was developed. The flexible feature of cable was displayed in the animation. It was an exciting achievement of this article, which can be used in the virtual assembly of cables to detect design problems. Besides the maintenance process containing cable plug and pull was simulated. The ergonomics was then tested in the form of virtual maintenance.

Accuracy Analysis and Error Source Identification for Optimization of Robot Based Machining Systems for Aerospace Production

2016 ◽  
Author(s):  
Simon Kothe ◽  
Sven Philipp von Stürmer ◽  
Hans Christian Schmidt ◽  
Christian Boehlmann ◽  
Jörg Wollnack ◽  
...  
Keyword(s):  
Source Identification ◽  
Accuracy Analysis ◽  
Error Source

scholarly journals Python in proteomics

2019 ◽  
Author(s):  
Hannes L Rost
Keyword(s):  
Mass Spectrometry ◽  
Data Analysis ◽  
Open Source ◽  
Biological Sequence ◽  
Post Translational Modification ◽  
Development Environment ◽  
Spectrometric Data ◽  
Graphical Environment ◽  
High Flexibility ◽  
Prototype Software

Python is a versatile scripting language that is widely used in industry and academia. In bioinformatics, there are multiple packages supporting data analysis with Python that range from biological sequence analysis with Biopython to structural modeling and visualization with packages like PyMOL and PyRosetta, to numerical computation and advanced plotting with NumPy/SciPy. In the proteomics community, Python began to be widely used around 2012 when several mature Python packages were published including pymzML, Pyteomics and pyOpenMS. This has led to an ever-increasing interest in the Python programming language in the proteomics and mass spectrometry community. The number of publications referencing or using Python has risen eight fold since 2012 (compared with the same time period before 2012), with multiple open-source Python packages now supporting mass spectrometric data analysis and processing. Computing and data analysis in mass spectrometry is very diverse and in many cases must be tailored to a specific experiment. Often, multiple analysis steps have to be performed (identification, quantification, post-translational modification analysis, filtering, FDR analysis etc.) in an analysis pipeline, which requires high flexibility in the analysis. This is where Python truly shines, due to its flexibility, visualization capabilities and the ability to extend computation with a large number of powerful libraries. Python can be used to quickly prototype software, combine existing libraries into powerful analysis workflows while avoiding the trap of re- inventing the wheel for a new project. Here, we will describe data analysis with Python using the pyOpenMS package. An extended documentation and tutorial can also be found online at https://pyopenms.readthedocs.io. To allow the reader to follow all steps in the tutorial, we will also describe the installation process of the software. Our installation is based on Anaconda, an open- source Python distribution that includes the Spyder integrated development environment (IDE) that allows development with pyOpenMS in a graphical environment.

A Novel Haptic Rendering Algorithm for Stable and Precise 6-DOF Virtual Assembly

2010 ◽  
Author(s):  
Muli Liu ◽  
Dangxiao Wang ◽  
Yuru Zhang
Keyword(s):  
Virtual Assembly ◽  
Haptic Rendering ◽  
Mechanical Assembly ◽  
Constant Frequency ◽  
Refresh Rate ◽  
Assembly Features ◽  
Cad Models ◽  
Continuous Feedback ◽  
The Common ◽  
Six Degree Of Freedom

This paper presents a novel algorithm for six-degree-of-freedom (6-DOF) haptic rendering, providing a fast, stable and precise virtual assembly. This algorithm simplifies large and complex CAD models into simple geometric primes, to accelerate the collision detection and therefore the refresh rate. Analytic approach is employed to simulate the virtual assembly. The common assembly process is decomposed into two basic types of manipulations, axis-alignment assembly and face-mating assembly. Some special assembly features (thread, spline and gear, etc) are described in special parameters. The algorithm has been implemented and interfaced with a 6-DOF PHANToM Premium 3.0. We demonstrate its performance on force display of the mechanical assembly. The object with low clearances can be assembled, and the continuous feedback force can be guaranteed at a constant frequency of 1 kHz.

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