Development of a novel mobile robotic system for large-scale manufacturing

Author(s):  
Yabin Ding ◽  
Zeyang Zhang ◽  
Xianping Liu ◽  
Jinsheng Fu ◽  
Tian Huang

The high demand of efficient large-scale machining operations by concurrently decreasing operating time and costs has led to an increasing usage of mobile robotic systems. This paper introduces a mobile robotic system which is consisted of a hybrid robot named TriMule on an automated guided vehicle, and a fringe-projection-based measurement system. TriMule exhibits desirable performance in terms of rigidity, accuracy, work envelop and reconfigurability. It is therefore suitable to be built on an autonomous platform for multi-station manufacturing in situ. In order to increase the absolute accuracy of the mobile robotic system, the fringe-projection-based measurement system obtains high accuracy and high density cloud to measure the position and orientation of the robot and workpiece in relation to each other. This system is suitable for large-scale manufacturing in situ, drilling, riveting and high-speed milling for example.

Author(s):  
S. Gao ◽  
Z. Ye ◽  
C. Wei ◽  
X. Liu ◽  
X. Tong

<p><strong>Abstract.</strong> The high-speed videogrammetric measurement system, which provides a convenient way to capture three-dimensional (3D) dynamic response of moving objects, has been widely used in various applications due to its remarkable advantages including non-contact, flexibility and high precision. This paper presents a distributed high-speed videogrammetric measurement system suitable for monitoring of large-scale structures. The overall framework consists of hardware and software two parts, namely observation network construction and data processing. The core component of the observation network is high-speed cameras to provide multiview image sequences. The data processing part automatically obtains the 3D structural deformations of the key points from the captured image sequences. A distributed parallel processing framework is adopted to speed up the image sequence processing. An empirical experiment was conducted to measure the dynamics of a double-tube five-layer building structure on the shaking table using the presented videogrammetric measurement system. Compared with the high-accuracy total station measurement, the presented system can achieve a sub-millimeter level of coordinates discrepancy. The 3D deformation results demonstrate the potential of the non-contact high-speed videogrammetric measurement system in dynamic monitoring of large-scale shake table tests.</p>


Author(s):  
Yi Zheng ◽  
Beiwen Li

Abstract In-situ inspection has drawn many attentions in manufacturing due to the importance of quality assurance. Having an accurate and robust in-situ monitoring can assist corrective actions for a closed-loop control of a manufacturing process. The fringe projection technique, as a variation of the structured light technique, has demonstrated significant potential for real-time in-situ monitoring and inspection given its merits of conducting simultaneous high-speed and high accuracy measurements. However, high-speed 3D scanning methods like fringe projection technique are typically based on triangulation principle, meaning that the depth information is retrieved by analyzing the triangulation relationship between the light emitter (i.e., projector), the image receiver (i.e., camera) and the tested sample surface. Such measurement scheme cannot reconstruct 3D surfaces where large geometrical variations are present, such as a deep-hole or a stair geometry. This is because large geometrical variations will block the auxiliary light used in the triangulation based methods, which will resultantly cause a shadowed area to occur. In this paper, we propose a uniaxial fringe projection technique to address such limitation. We measured a stair model using both conventional triangulation-based fringe projection technique and the proposed method for comparison. Our experiment demonstrates that the proposed uniaxial fringe projection technique can perform high-speed 3D scanning without shadows appearing in the scene. Quantitative testing shows that an accuracy of 1.15% can be obtained using the proposed uniaxial fringe projection system.


1982 ◽  
Vol 97 ◽  
pp. 229-230
Author(s):  
A. Ferrari ◽  
S. Massaglia ◽  
E. Trussoni ◽  
L. Zaninetti

Several authors have suggested that radio jet morphologies resolved in extragalactic sources are the effects of large-scale Kelvin-Helmholtz instabilities in high-speed, pressure-confined fluid beams ejected from parent active galactic nuclei (Ferrari et al. 1978, 1979, 1981; Hardee 1979;Benford et al. 1980). In particular results from studies for cylindrical geometries indicate how to connect the “wiggles” (observed in 3C449, NGC 6251, M87 and Cen A) with helical perturbations and the “knots” (observed in NGC 315, M87, Cen Aetc.) with pinching modes. Correspondingly small scale MHD perturbations, generated by the same instability or nonlinear cascade processes, are efficient in accelerating relativistic electrons via stochastic scatterings (Lacombe 1977; Ferrari et al. 1979). This picture may satisfy both the requirements for in situ re-acceleration and the intrinsic correlation between morphology and emission.


2019 ◽  
Vol 252 ◽  
pp. 01002
Author(s):  
Zbigniew Siemiątkowski

The paper describes sequence of machining operations that leads to the desired quality of the produced crankshaft, as well as in-situ inspection, correction and compensation procedures performed and controlled by computer. The form deviation values after correction are being compared with those obtained before. In case of crank pins, values of form deviations, and hence those of corrections, are much larger than for main journals. During the measurement, the probe collects data from 3600 points per revolution, and then averaging procedure reduces data down to 360 points. There are several algorithms for data processing available, so the operator may choose the one most appropriate. Substantial difference between out-of-roundness values of main journals and crank pivot was registered. Before form compensation, the former was between 0.01 and 0.02 mm, while the latter were in range 0.07-0.09 mm. Program of grinding is parametric, i.e. at each stage of the process all values responsible for the tool movement undergo correction. The applied computer monitoring enabled to achieve the demanded quality of grinded surface, as well as dimensions and form deviations in the tolerances set by the product specifications. Form compensation procedure enabled to reduce peak-to-peak deviation from 30.37 μm down to 8.14 μm.


2012 ◽  
Vol 39 (10) ◽  
pp. 1008006
Author(s):  
胡文川 Hu Wenchuan ◽  
裘祖荣 Qiu Zurong ◽  
张国雄 Zhang Guoxiong

2014 ◽  
Vol 592-594 ◽  
pp. 164-169 ◽  
Author(s):  
R. K. Veeresha ◽  
Muralidhara ◽  
Rathnamala Rao

Tool based mechanical micromachining technology is gaining importance in MEMS device fabrication because of its ability to machine 3D micro features on different engineering materials. This paper presents the development of tool based mechanical micromachining center with piezoactuated workpiece feeding system. A high speed spindle is used to rotate the micromilling/drilling tool at a speed of 12,000 to 60,000 rpm. A thermoelectric based liquid cooling system is developed to control the temperature of the high speed spindle at a set value. Along with the X-Y positioning system, the workpiece is also mounted on a piezoactuator to provide Z-axis motion during machining operation. An electrical continuity based tool-workpiece contact detection system is developed to overcome premature tool failure during initial tool registration with the workpiece. Based on the developed tool-workpiece contact sensor, an in-situ measurement system is developed to measure the micromachining depth. Experiments were conducted to measure the performance of spindle cooling system and in-situ measurement system.


Author(s):  
Yi Zheng ◽  
Beiwen Li

Abstract In-situ inspection has drawn many attentions in manufacturing due to the importance of quality assurance. With the rapid growth of additive manufacturing technology, the importance of in-line/in-situ inspections has been raised to a higher level due to many uncertainties that could occur during an additive printing process. Given this, having accurate and robust in-situ monitoring can assist corrective actions for a closed-loop control of a manufacturing process. Contact 3D profilometers such as stylus profilometers or coordinate measuring machines can achieve very high accuracies. However, due to the requirement for physical contact, such methods have limited measurement speeds and may cause damage to the tested surface. Thus, contact methods are not quite suitable for real-time in-situ metrology. Non-contact methods include both passive and active methods. Passive methods (e.g., focus variation or stereo vision) hinges on image-based depth analysis, yet the accuracies of passive methods may be impacted by light conditions of the environment and the texture quality of the surface. Active 3D scanning methods such as laser scanning or structured light are suitable for instant quality inspection due to their ability to conduct a quick non-contact 3D scan of the entire surface of a workpiece. Specifically, the fringe projection technique, as a variation of the structured light technique, has demonstrated significant potential for real-time in-situ monitoring and inspection given its merits of conducting simultaneous high-speed (from 30 Hz real-time to kilohertz high speeds) and high accuracy (tens of μm) measurements. However, high-speed 3D scanning methods like fringe projection technique are typically based on triangulation principle, meaning that the depth information is retrieved by analyzing the triangulation relationship between the light emitter (i.e., projector), the image receiver (i.e., camera) and the tested sample surface. Such measurement scheme cannot reconstruct 3D surfaces where large geometrical variations are present, such as a deep-hole or a stair geometry. This is because large geometrical variations will block the auxiliary light used in the triangulation based methods, which will resultantly cause a shadowed area to occur. In this paper, we propose a uniaxial fringe projection technique to address such limitation. We measured a stair model using both conventional triangulation based fringe projection technique and the proposed method for comparison. Our experiment demonstrates that the proposed uniaxial fringe projection technique can perform high-speed 3D scanning without shadows appearing in the scene. Quantitative testing shows that an accuracy of 35 μm can be obtained by measuring a step-height object using the proposed uniaxial fringe projection system.


Author(s):  
Zheng (Jeremy) Li

The development and improvement of robotic system integrate the science and technology of robotic system design, engineering analysis, prototyping, and experiment. This chapter introduces the current research and development of robotic systems applied in medical treatment, surgical operation, automated manufacturing, and high-speed production. Two recent robotic researches are included in this chapter to show the technical methodologies of computer-aided 3D modeling, computational simulation, engineering analysis, prototyping, and experiment in design and development of robotic systems.


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