Development of Grooving Technique for Origami-Forming

2015 ◽  
Author(s):  
Hoan Thai Tat Nguyen ◽  
Kousuke Terada ◽  
Sunao Tokura ◽  
Ichiro Hagiwara
Keyword(s):  
New Method ◽  
Hard Material ◽  
Robot System ◽  
Handling System ◽  
Manufacturing Method ◽  
Large Pressure ◽  
Increase Risk ◽  
Reconfigurable Robot ◽  
Low Volume ◽  
Gauss Distribution

Recently, a new manufacturing method called Origami-forming is developed, based on traditional Origami approach. In particular, the new method follows the same steps as Origami, applying for wider rank of material (soft and hard material such as aluminum, high tensile steel, etc), and folding by a reconfigurable robot system. This method is suitable for high-variety low-volume, because of the unnecessary of die and punches. However, achieving the goal is still a challenge for researchers. Bending of hard material causes springback, increase risk of cracking, and require large pressure. In this study, by mimicking from the traditional Origami that we should make crease line before folding, bending method by grooving at the bend-line is proposed to reduce the necessary force to constraint the blank and get a high limit of bending. Firstly, several shapes of groove are compared: half-circle, gauss distribution, half-haxegon and rectangle. Then based on the comparison, the optimization of the shape is investigated. Lastly, handling system is considered to find an effective way of grasping the blank.

scholarly journals Power efficiency estimation based health monitoring and fault detection of modular and reconfigurable robot

2021 ◽  
Author(s):  
Jing Yaun
Keyword(s):  
Fault Detection ◽  
Health Monitoring ◽  
Power Efficiency ◽  
Joint Torque ◽  
Robot System ◽  
Operation Conditions ◽  
Efficiency Estimation ◽  
Joint Torque Sensor ◽  
Reconfigurable Robot ◽  
Critical Components

Power efficiency degradation of machines often provides intrinsic indication of problems associated with their operation conditions. Inspired by this observation, in this thesis work, a simple yet effective power efficiency estimation base health monitoring and fault detection technique is proposed for modular and reconfigurable robot with joint torque sensor. The design of the Ryerson modular and reconfigurable robot system is first introduced, which aims to achieve modularity and compactness of the robot modules. Critical components, such as the joint motor, motor driver, harmonic drive, sensors, and joint brake, have been selected according to the requirement. Power efficiency coefficients of each joint module are obtained using sensor measurements and used directly for health monitoring and fault detection. The proposed method has been experimentally tested on the developed modular and reconfigurable robot with joint torque sensing and a distributed control system. Experimental results have demonstrated the effectiveness of the proposed method.

Development of Manufacturing Method for Truss Core Panel Based on Origami-Forming

2015 ◽  
Author(s):  
Hoan Thai Tat Nguyen ◽  
Phuong Thao Thai ◽  
Bo Yu ◽  
Ichiro Hagiwara
Keyword(s):  
Forming Process ◽  
Robot System ◽  
Cutting Method ◽  
Manufacturing Method ◽  
Truss Core ◽  
Equivalent Bending Stiffness ◽  
Lightweight Structure ◽  
Partition Method ◽  
In Fire ◽  
Honeycomb Panel

Although honeycomb panel is widely used in various stages, its adhesive for gluing honeycomb core and plate may burn by fire, leading to the requirement of another lightweight and high stiffness panel. Recently, an Origami structure called Truss Core Panel (TCP) is known as a lightweight structure that has equivalent bending stiffness as honeycomb panel, and safer in fire. However, some difficulties are found in forming TCP in general. In this study, a new forming process of TCP based on origami-forming is developed. In particular, the TCP is partitioned into several parts that are flat unfoldable into 2D crease patterns. After that, blanks of material are cut as the shapes of those crease pattern, and be formed by a robot system to get the desired 3D shape. Firstly, partition method by dividing TCP into pyramid cores and sheet plate is presented, suggesting an ability to manufacture a wider range of structure than before. Tools arrangement of robot device and a countermeasure for springback are considered. Next, by applying Origami unfolding technique, an improvement of partition method is proposed: dividing TCP into cores rows, and then searching for a Origami crease pattern in order to fold that cores row. The cutting method of every core is modified for reducing the number of facets, making the problem simpler. Finally, an Origami crease pattern based on this new cutting method is presented, producing cores row with any number of cores.

A Discussion on New Manufacturing Method Based on Synergetics Theory

2011 ◽  
Vol 341-342 ◽  
pp. 374-378
Author(s):  
You Geng Dong
Keyword(s):  
Data Exchange ◽  
New Method ◽  
Management Process ◽  
Information Flows ◽  
Production Chain ◽  
Chain Management ◽  
Manufacturing Method ◽  
Data Exchange Platform ◽  
Quality Chain ◽  
Method Model

This paper points out the flaws of the CIMS, and states that synergetic manufacturing method that is based on Synergetics theory, is able to overcome the majority of the flaws in CIMS. It describes a new method model of synergetic manufacturing, which divides the enterprises into three types: Design, Manufacturing and Auxiliary, they are connected via the data exchange platform that is established with the aid of internet.This new manufecturing model breaks through the limits, that traditional manufecturing industry has, among the enterprises societies and countries to realize the matter and information flows extending over country bounds in the global production chain. The paper further discusses the topics of quality chain management process and the reliability of the database that synergetic manufacturing will be using. Thus it improves the agility and competitiveness of the enterprises sharply.

Development of Dismantling Robot for Ceiling Boards - Human-Robot Cooperative System and System Design of the Robot -

2010 ◽  
Vol 22 (2) ◽  
pp. 204-211 ◽  
Author(s):  
Satoshi Ashizawa ◽  
◽  
Yusuke Kuromiya ◽  
Toshiya Watanabe ◽  
Takeo Oomichi ◽  
...  
Keyword(s):  
System Design ◽  
Hierarchical System ◽  
New Method ◽  
Cooperative System ◽  
Robot System

We have developed a dismantling robot for ceiling boards. The system design of the dismantling robot actually includes a cooperative system between humans and robots. It has a hierarchical system of the independent robot. Indeed, we carried out the dismantlement of ceiling boards by a new method of cutting ceiling boards, and verified the effectiveness of the robot system.

Algorithm for Real-Time Image Processing in the Robot Soccer

2011 ◽  
Vol 143-144 ◽  
pp. 737-741 ◽  
Author(s):  
Hai Bo Liu ◽  
Wei Wei Li ◽  
Yu Jie Dong
Keyword(s):  
Image Processing ◽  
Color Image ◽  
Vision System ◽  
Color Space ◽  
Color Image Segmentation ◽  
New Method ◽  
Robot System ◽  
Robot Soccer ◽  
Seed Fill ◽  
Time Image

Vision system is an important part of the whole robot soccer system.In order to win the game, the robot system must be more quick and more accuracy.A color image segmentation method using improved seed-fill algorithm in YUV color space is introduced in this paper. The new method dramatically reduces the work of calculation,and speeds up the image processing. The result of comparing it with the old method based on RGB color space was showed in the paper.The second step of the vision sub system is identification the color block that separated by the first step.A improved seed fill algorithm is used in the paper.The implementation on MiroSot Soccer Robot System shows that the new method is fast and accurate.

scholarly journals Power efficiency estimation based health monitoring and fault detection of modular and reconfigurable robot

2021 ◽  
Author(s):  
Jing Yaun
Keyword(s):  
Fault Detection ◽  
Health Monitoring ◽  
Power Efficiency ◽  
Joint Torque ◽  
Robot System ◽  
Operation Conditions ◽  
Efficiency Estimation ◽  
Joint Torque Sensor ◽  
Reconfigurable Robot ◽  
Critical Components

Power efficiency degradation of machines often provides intrinsic indication of problems associated with their operation conditions. Inspired by this observation, in this thesis work, a simple yet effective power efficiency estimation base health monitoring and fault detection technique is proposed for modular and reconfigurable robot with joint torque sensor. The design of the Ryerson modular and reconfigurable robot system is first introduced, which aims to achieve modularity and compactness of the robot modules. Critical components, such as the joint motor, motor driver, harmonic drive, sensors, and joint brake, have been selected according to the requirement. Power efficiency coefficients of each joint module are obtained using sensor measurements and used directly for health monitoring and fault detection. The proposed method has been experimentally tested on the developed modular and reconfigurable robot with joint torque sensing and a distributed control system. Experimental results have demonstrated the effectiveness of the proposed method.

More Flexibility and Versatility in Automated Handling Processes With an Alterable Parallel Manipulator

2011 ◽  
Author(s):  
Martin Riedel ◽  
Tom Mannheim ◽  
Burkhard Corves
Keyword(s):  
Parallel Manipulator ◽  
Closed Loop ◽  
Reconfigurable Architecture ◽  
Assembly Systems ◽  
Robot System ◽  
Robotic Arms ◽  
Handling System ◽  
Cartesian Space ◽  
Different Types ◽  
Automated Handling

This paper deals with the question of how flexibility and versatility in automated handling and assembly systems can be increased and of how they can be become more efficient and economic in operation. A solution can be given by a novel robot system called PARAGRIP (Parallel Gripping), featuring a reconfigurable architecture with a modular and alterable layout. This new handling system is able to manipulate objects in the six-dimensional Cartesian space by several robotic arms, which form a closed loop kinematic structure including the handling object as a mobile platform. As the mounting and grasp points of the arms as well as many other parameters can easily be changed, the manipulator can be reconfigured economic to match the user’s preferences and needs. Regrasping the object dynamically with additional arms makes kinematic adjustment possible, even during motion. In this paper the question is raised which different types of reconfiguration are essential and how they can be combined optimally. Several practical examples underline the enhanced performance of the alterable handling system.

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