A novel method of freeform surface grinding with a soft wheel based on industrial robots

2011 ◽  
Author(s):  
Sheng-chun Sha ◽  
Xiao-ling Guo
Keyword(s):  
Industrial Robots ◽  
Surface Grinding ◽  
Freeform Surface ◽  
Novel Method

scholarly journals A Novel Method for the Micro-Clearance Measurement of a Precision Spherical Joint Based on a Spherical Differential Capacitive Sensor

Sensors ◽  
2018 ◽  
Vol 18 (10) ◽  
pp. 3366 ◽  
Author(s):  
Wen Wang ◽  
He Yang ◽  
Min Zhang ◽  
Zhanfeng Chen ◽  
Guang Shi ◽  
...  
Keyword(s):  
Capacitive Sensor ◽  
Differential Capacitance ◽  
Industrial Robots ◽  
Parallel Mechanisms ◽  
Spherical Joint ◽  
Compact Structure ◽  
Spacing Variation ◽  
Novel Method ◽  
The Mathematical Model ◽  
Fringe Effect

A spherical joint is a commonly used mechanical hinge with the advantages of compact structure and good flexibility, and it becomes a key component in many types of equipment, such as parallel mechanisms, industrial robots, and automobiles. Real-time detection of a precision spherical joint clearance is of great significance in analyzing the motion errors of mechanical systems and improving the transmission accuracy. This paper presents a novel method for the micro-clearance measurement with a spherical differential capacitive sensor (SDCS). First, the structure and layout of the spherical capacitive plates were designed according to the measuring principle of capacitive sensors with spacing variation. Then, the mathematical model for the spatial eccentric displacements of the ball and the differential capacitance was established. In addition, equipotential guard rings were used to attenuate the fringe effect on the measurement accuracy. Finally, a simulation with Ansoft Maxwell software was carried out to calculate the capacitance values of the spherical capacitors at different eccentric displacements. Simulation results indicated that the proposed method based on SDCS was feasible and effective for the micro-clearance measurement of the precision spherical joints with small eccentricity.

Real-time velocity scaling and obstacle avoidance for industrial robots using fuzzy dynamic movement primitives and virtual impedances

2018 ◽  
Vol 45 (1) ◽  
pp. 110-126 ◽  
Author(s):  
Iman Kardan ◽  
Alireza Akbarzadeh ◽  
Ali Mousavi Mohammadi
Keyword(s):  
Real Time ◽  
Obstacle Avoidance ◽  
Time Constant ◽  
Fuzzy System ◽  
Industrial Robots ◽  
Simple Method ◽  
Content Type ◽  
Dynamic Movement ◽  
Steering Mechanism ◽  
Novel Method

Purpose This paper aims to increase the safety of the robots’ operation by developing a novel method for real-time implementation of velocity scaling and obstacle avoidance as the two widely accepted safety increasing concepts. Design/methodology/approach A fuzzy version of dynamic movement primitive (DMP) framework is proposed as a real-time trajectory generator with imbedded velocity scaling capability. Time constant of the DMP system is determined by a fuzzy system which makes decisions based on the distance from obstacle to the robot’s workspace and its velocity projection toward the workspace. Moreover, a combination of the DMP framework with a human-like steering mechanism and a novel configuration of virtual impedances is proposed for real-time obstacle avoidance. Findings The results confirm the effectiveness of the proposed method in real-time implementation of the velocity scaling and obstacle avoidance concepts in different cases of single and multiple stationary obstacles as well as moving obstacles. Practical implications As the provided experiments indicate, the proposed method can effectively increase the real-time safety of the robots’ operations. This is achieved by developing a simple method with low computational loads. Originality/value This paper proposes a novel method for real-time implementation of velocity scaling and obstacle avoidance concepts. This method eliminates the need for modification of original DMP formulation. The velocity scaling concept is implemented by using a fuzzy system to adjust the DMP’s time constant. Furthermore, the novel impedance configuration makes it possible to obtain a non-oscillatory convergence to the desired path, in all degrees of freedom.

Novel method of measuring optical freeform surface based on laser focusing probe without calibrating focus error signal

Measurement ◽  
2019 ◽  
Vol 148 ◽  
pp. 106961 ◽  
Author(s):  
Yiting Duan ◽  
Quangsang Vo ◽  
Xiaodong Zhang ◽  
Yingmo Wang ◽  
Siyu Huang ◽  
...  
Keyword(s):  
Freeform Surface ◽  
Error Signal ◽  
Laser Focusing ◽  
Novel Method

Dynamic Identification of Industrial Robots from Low-Sampled Data

2013 ◽  
Vol 328 ◽  
pp. 644-650 ◽  
Author(s):  
E. Oliva ◽  
G. Berselli ◽  
F. Pini
Keyword(s):  
Previous Literature ◽  
Industrial Robots ◽  
Sampled Data ◽  
Dynamic Identification ◽  
Inertial Parameters ◽  
Novel Method ◽  
Friction Models

This paper proposes a fast and on-site method for the dynamic identification of industrial robots from low-sampled position and torque data. Owing to the basic architecture of the employed controller, only trapezoidal-velocity trajectories can be enforced for identification purposes. Differently from previous literature, where this kind of trajectories were performed with limited joint velocities and range of motions, the procedure proposed hereafter is characterized by fast movements performed on wide angular ranges. Furthermore, in order to identify the influence of friction without deriving complex friction models, a novel method is outlined that decouples frictional torques from gravitational, centrifugal and inertial ones. Finally, although multiple experiments of different kinds have been performed, inertial parameters are determined in one singular step, thus avoiding possible error increase due to sequential identification algorithms.

scholarly journals Novel Method of Nanoparticle Synthesis using Surface Grinding

2020 ◽  
Vol 9 (5) ◽  
pp. 1643-1646
Keyword(s):  
Feed Rate ◽  
Glass Plate ◽  
Nanoparticle Synthesis ◽  
High Energy ◽  
Surface Grinding ◽  
Nano Particles ◽  
Grinding Wheel ◽  
Specific Shape ◽  
Energy Ball ◽  
Novel Method

Nanoparticles are of most important in all the areas because of their varied and unusual properties. nano particles could be produced using top down and bottom up approaches. We present a novel method of synthesizing nanoparticles such as C, ZnO, Al, Fe2O3 . The surface grinding was taken as a fundamental process inside the proposed Nano Particle Synthesizer (NPS). Parameters such as speed of the grinding wheel, feed rate and coolant feed rate could be used for fixing the dimension and specification of our nano particles synthesizing unit. After Passing through the NPS, particles of micro and nanoparticles were collected in glass plate and characterized using Scanning Electron Microscope (SEM) to confirm the size and shape of nano particles. This method could be employed as an alternative method to High Energy Ball Milling for producing high pressure and high temperature that favors the synthesis of nano particles in specific shape and size.

Vibration-Assisted Grinding of Mild and Hardened Steel: A Novel Design Vibrating Jig and Process Performance

2012 ◽  
Author(s):  
Vaios Tsiakoumis ◽  
Andre Batako
Keyword(s):  
Material Removal ◽  
Manufacturing Sector ◽  
Hardened Steel ◽  
Surface Grinding ◽  
Grinding Wheels ◽  
Grinding Forces ◽  
Product Surface ◽  
Novel Method ◽  
Precision And Accuracy ◽  
Novel Design

Grinding is always one of the most significant processes in manufacturing sector due to its high precision and accuracy and especially nowadays where the demand for higher quality products has been raised. Its importance lies on the fact that it stands at the final stages of a component’s manufacturing chain and therefore, the possibility of errors must be at the lowest levels. Heretofore, the improvement of this process has motivated a number of researchers to develop different techniques. In the current work a novel method of vibration-assisted surface grinding of mild and hardened steel using aluminium oxide grinding wheels is examined. More specifically, the design concept along with the dynamic characteristics of a simplified vibrating jig is presented. The purpose of this jig was to accommodate and oscillate the workpiece at a certain frequency during surface grinding in order to improve the performance of the process in terms of achieving lower grinding forces and thus lower power consumption, higher material removal rates and better product surface finish. Two grinding wheels and two workpiece materials with different properties were employed during conventional and vibration-assisted surface grinding and the results are compared. The benefits of this non-conventional, advanced grinding process are also illustrated.

Detection of Motion Error Under Synchronous Two-Axis Control of a Dual Arm Robot Based on Monitoring of Ball Rolling Motion on a Plate

2015 ◽  
Vol 9 (1) ◽  
pp. 33-42
Author(s):  
Wei Wu ◽  
◽  
Shun Kinoshita ◽  
Toshiki Hirogaki ◽  
Eiichi Aoyama
Keyword(s):  
Cooperative Control ◽  
Rolling Friction ◽  
Industrial Robots ◽  
Circular Path ◽  
Motion Error ◽  
Rotary Axes ◽  
Ball Rolling ◽  
Novel Method ◽  
Dual Arm Robot ◽  
Dual Arm

Dual-arm industrial robots have been gaining attention as novel tools in the field of new automation. We therefore focus on them to flexibly control both the linear motion and the rotational motion of a working plate. However, the difficulty of measuring the synchronous accuracy of two rotary axes without a highaccuracy gyro sensor has been a problem. We therefore propose a novel method of using a ball to measure the synchronous accuracy of two rotary axes of a working plate. The plate uses dual-arm cooperative control to keep the ball rolling in a circular path on it. In this report, we investigate the effects of the rolling friction coefficient of the ball on its sensitivity and resolution to estimate the synchronous accuracy of two rotary axes.

A novel robot kinematic calibration method based on common perpendicular line model

2018 ◽  
Vol 45 (6) ◽  
pp. 766-775 ◽  
Author(s):  
Chen Shen ◽  
Youping Chen ◽  
Bing Chen ◽  
Yu Qiao
Keyword(s):  
Industrial Robot ◽  
Calibration Method ◽  
Industrial Robots ◽  
Kinematic Calibration ◽  
The Novel ◽  
Perpendicular Line ◽  
Content Type ◽  
Novel Method ◽  
Two Parameters ◽  
Independent Parameters

Purpose This paper aims to propose a novel robot kinematic calibration method based on the common perpendicular line (CPL) model to improve the absolute accuracy of industrial robots. Design/methodology/approach The deviation between the nominal and actual twists is considered the CPL transformation, which includes the rotation about the CPL and the translation along the CPL. By using the invariance of the reciprocal product of the two spatial lines, the previous deviation was analyzed in the neighbor space of the base frame origin. In this space, the line vector of the CPL contained only four independent parameters: two orientation elements and two moment elements. Thus, the CPL model has four independent parameters for the revolute joint and two parameters for the prismatic joint. Findings By simulations and experiment conducted on a SCARA robot and a 6-DOF PUMA robot, the effectiveness of the novel method for calibration of industrial robot is validated. Originality/value The CPL model avoided the normalization and orthogonalization in the iterative identification procedure. Therefore, identifying the CPL model was not only simpler but also more accurate than that of the traditional model. In addition, the results of the CPL transformation strictly conformed to the constraints of the twist.

scholarly journals Object Identification for Task-Oriented Communication with Industrial Robots

Sensors ◽  
2020 ◽  
Vol 20 (6) ◽  
pp. 1773 ◽  
Author(s):  
Adam Rogowski ◽  
Piotr Skrobek
Keyword(s):  
Object Identification ◽  
Industrial Robots ◽  
Field Of View ◽  
Speech Communication ◽  
Shape Classification ◽  
General Rules ◽  
Novel Method ◽  
Recognition Systems ◽  
Task Oriented ◽  
Human Robot Collaboration

To make the human-robot collaboration effective, it may be necessary to provide robots with “senses” like vision and hearing. Task-oriented man-machine speech communication often relies on the use of abstract terms to describe objects. Therefore it is necessary to correctly map those terms into images of proper objects in a camera’s field of view. This paper presents the results of our research in this field. A novel method for contour identification, based on flexible editable contour templates (FECT), has been developed. We demonstrate that existing methods are not appropriate for this purpose because it is difficult to formulate general rules that humans employ to rank shapes into proper classes. Therefore, the rules for shape classification should be individually formulated by the users for each application. Our aim was to create appropriate tool facilitating formulation of those rules as it could potentially be a very labor-intensive task. The core of our solution is FCD (flexible contour description) format for description of flexible templates. Users will be able to create and edit flexible contour templates, and thus, adjust image recognition systems to their needs, in order to provide task-oriented communication between humans and robots.

Freeform surface grinding and polishing by CCOS based on industrial robot

2016 ◽  
Author(s):  
HaiTao Liu ◽  
YongJian Wan ◽  
ZhiGe Zeng ◽  
LiChao Xu ◽  
HongShen Zhao ◽  
...  
Keyword(s):  
Industrial Robot ◽  
Surface Grinding ◽  
Freeform Surface ◽  
Grinding And Polishing
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