scholarly journals Localization Of A Mobile Fastening Robot

2021 ◽  
Author(s):  
Vannesa A. Soria Olmedo
Keyword(s):  
Kalman Filter ◽  
Complete System ◽  
Coordinate Measuring Machine ◽  
Ultrasonic Sensors ◽  
Localization System ◽  
Circular Hough Transform ◽  
Corrected Image ◽  
Measuring Machine ◽  
Calibration Techniques ◽  
Calibration Parameters

<div>The goal of this research is to develop a localization system for a mobile fastening robot using a camera and ultrasonic sensors. Localization is performed by using triangulation methods on three target fastener heads. Camera calibration parameters are determined and used to obtain a corrected image on which a Circular Hough Transform algorithm is used to determine the location of the three target fastener heads relative to the camera. The distance to the fastener heads is determined using readings from two ultrasonic sensors. A Kalman Filter is developed and used to reduce the noise of the ultrasonic sensor readings. In addition to filtering, calibration techniques are used to correct the readings of the final localization system. Testing of the complete system is done using a coordinate measuring machine. </div>

scholarly journals Localization Of A Mobile Fastening Robot

2021 ◽  
Author(s):  
Vannesa A. Soria Olmedo
Keyword(s):  
Kalman Filter ◽  
Complete System ◽  
Coordinate Measuring Machine ◽  
Ultrasonic Sensors ◽  
Localization System ◽  
Circular Hough Transform ◽  
Corrected Image ◽  
Measuring Machine ◽  
Calibration Techniques ◽  
Calibration Parameters

<div>The goal of this research is to develop a localization system for a mobile fastening robot using a camera and ultrasonic sensors. Localization is performed by using triangulation methods on three target fastener heads. Camera calibration parameters are determined and used to obtain a corrected image on which a Circular Hough Transform algorithm is used to determine the location of the three target fastener heads relative to the camera. The distance to the fastener heads is determined using readings from two ultrasonic sensors. A Kalman Filter is developed and used to reduce the noise of the ultrasonic sensor readings. In addition to filtering, calibration techniques are used to correct the readings of the final localization system. Testing of the complete system is done using a coordinate measuring machine. </div>

scholarly journals LOCALIZATION OF A MOBILE FASTENING ROBOT

2021 ◽  
Author(s):  
Vannesa A. Soria Olmedo
Keyword(s):  
Kalman Filter ◽  
Complete System ◽  
Coordinate Measuring Machine ◽  
Ultrasonic Sensors ◽  
Localization System ◽  
Circular Hough Transform ◽  
Corrected Image ◽  
Measuring Machine ◽  
Calibration Techniques ◽  
Calibration Parameters

<div>The goal of this research is to develop a localization system for a mobile fastening robot using a camera and ultrasonic sensors. Localization is performed by using triangulation methods on three target fastener heads. Camera calibration parameters are determined and used to obtain a corrected image on which a Circular Hough Transform algorithm is used to determine the location of the three target fastener heads relative to the camera. The distance to the fastener heads is determined using readings from two ultrasonic sensors. A Kalman Filter is developed and used to reduce the noise of the ultrasonic sensor readings. In addition to filtering, calibration techniques are used to correct the readings of the final localization system. Testing of the complete system is done using a coordinate measuring machine. </div>

scholarly journals Measuring Sensors Calibration in Worm Gear Rolling Testers

Sensors ◽  
2020 ◽  
Vol 20 (11) ◽  
pp. 3148 ◽  
Author(s):  
Marcos Pueo ◽  
Raquel Acero ◽  
Ángel Gracia ◽  
Jorge Santolaria
Keyword(s):  
Coordinate Measuring Machine ◽  
Uncertainty Budget ◽  
Worm Gear ◽  
Measuring Instruments ◽  
Fundamental Factor ◽  
Process Uncertainty ◽  
Measuring Machine ◽  
Calibration And Verification ◽  
Calibration Techniques ◽  
Gear Rolling

The ISO standard regulating gear-rolling measurement does not specify in detail the calibration and verification procedures for this type of equipment. This may be one of the reasons for the lack of reproducibility in these rolling tests. The uncertainty budget method, which is the most appropriate way to know the accuracy of this dynamic measurement, shows that the measuring sensors’ accuracy is only a part of the total measurement process uncertainty. In this work, a new calibration and verification procedure for a worm gear rolling tester is presented, based on machine tool, coordinate measuring machine and gear measuring instruments’ calibration techniques. After compensating numerically for the measuring instruments, it has been evaluated how the error components of each movement affect the meshing point, a fundamental factor to ensure a good gear transmission. The study shows that there are unintentional position variations, not detected by the measuring sensors, that have to be identified and quantified in the calibration for their later inclusion in the uncertainty budget. In this way, the measurement uncertainty could be reduced, and thus improve the reproducibility of these testers, as a preliminary stage to the development of optimized rolling measurement equipment to solve current limitations.

scholarly journals Evaluation of dimensional accuracy of dental bridges manufactured with conventional casting technique and CAD/CAM system with Ceramill Sintron blocks using CMM

2018 ◽  
Vol 12 (4) ◽  
pp. 264-271 ◽  
Author(s):  
Alireza Izadi ◽  
Fariborz Vafaee ◽  
Arash Shishehian ◽  
Ghodratollah Roshanaei ◽  
Behzad Fathi Afkari
Keyword(s):  
Reference Model ◽  
Coordinate Measuring Machine ◽  
Dimensional Accuracy ◽  
Three Dimensions ◽  
Casting Technique ◽  
Dimensional Changes ◽  
Conventional Casting ◽  
Cad Cam ◽  
Milling Method ◽  
Measuring Machine

Background. Recently, non-presintered chromium-cobalt (Cr-Co) blocks with the commercial name of Ceramill Sintron were introduced to the market. However, comprehensive studies on the dimensional accuracy and fit of multi-unit frameworks made of these blocks using the coordinate measuring machine (CMM) are lacking. This study aimed to assess and compare the dimensional changes and fit of conventional casting and milled frameworks using Ceramill Sintron. Methods. A metal model was designed and scanned and 5-unit frameworks were fabricated using two techniques: (I) the conventional casting method (n=20): the wax model was designed, milled in the CAD/CAM machine, flasked and invested; (II) the milling method using Ceramill Sintron blocks (n=20): the wax patterns of group 1 were used; Ceramill Sintron blocks were milled and sintered. Measurements were made on the original reference model and the fabricated frameworks using the CMM in all the three spatial dimensions, and dimensional changes were recorded in a checklist. Data were analyzed with descriptive statistics, and the two groups were compared using one-way ANOVA and Tukey test (α=0.05). Results. The fabricated frameworks in both groups showed significant dimensional changes in all the three dimensions. Comparison of dimensional changes between the two groups revealed no significant differences (P>0.05) except for transverse changes (arch) that were significantly greater in Ceramill Sintron frameworks (P<0.05). Conclusion. The two manufacturing processes were the same regarding dimensional changes and the magnitude of marginal gaps and both processes resulted in significant dimensional changes in frameworks. Ceramill Sintron frameworks showed significantly greater transverse changes than the conventional frameworks.

scholarly journals The Influence of Automated Machining Strategy on Geometric Deviations of Machined Surfaces

2021 ◽  
Vol 11 (5) ◽  
pp. 2353
Author(s):  
Ján Varga ◽  
Teodor Tóth ◽  
Peter Frankovský ◽  
Ľudmila Dulebová ◽  
Emil Spišák ◽  
...  
Keyword(s):  
Control System ◽  
Surface Quality ◽  
Coordinate Measuring Machine ◽  
Geometric Tolerance ◽  
Geometric Tolerances ◽  
Significant Difference ◽  
Geometric Deviations ◽  
Measuring Machine ◽  
Overlap Parameter ◽  
Total Average

This paper deals with various automated milling strategies and their influence on the accuracy of produced parts. Among the most important factors for surface quality is the automated milling strategy. Milling strategies were generated from two different programs, CAM system SolidCAM, with the help of workshop programming in the control system Heidenhain TNC 426. In the first step, simulations of different toolpaths were conducted. Using geometric tolerance is becoming increasingly important in robotized production, but its proper application requires a deeper understanding. This article presents the measurement of selected planes of robotized production to evaluate their flatness, parallelism and perpendicularity deviations after milling on the coordinate measuring machine Carl Zeiss Contura G2. Total average deviations, including all geometric tolerances, were 0.020 mm for SolidCAM and 0.016 mm for Heidenhain TNC 426. The result is significantly affected by the flatness of measured planes, where the overlap parameter of the tools has a significant impact on the flatness of the surface. With interchangeable cutter plate tools, it is better to use higher overlap to achieve better flatness. There is a significant difference in production time, with SolidCAM 25 min and 30 s, and Heidenhain 48 min and 19 s. In accordance with these findings, the SolidCAM system is more suitable for production.

scholarly journals Study of Machining of Gears with Regular and Modified Outline Using CNC Machine Tools

Materials ◽  
2021 ◽  
Vol 14 (11) ◽  
pp. 2913
Author(s):  
Rafał Gołębski ◽  
Piotr Boral
Keyword(s):  
Machine Tools ◽  
Coordinate Measuring Machine ◽  
Optical Microscope ◽  
Numerical Control ◽  
Cnc Machine Tools ◽  
Cnc Milling ◽  
Cnc Machine ◽  
Cylindrical Gears ◽  
Measuring Machine ◽  
Five Axis

Classic methods of machining cylindrical gears, such as hobbing or circumferential chiseling, require the use of expensive special machine tools and dedicated tools, which makes production unprofitable, especially in small and medium series. Today, special attention is paid to the technology of making gears using universal CNC (computer numerical control) machine tools with standard cheap tools. On the basis of the presented mathematical model, a software was developed to generate a code that controls a machine tool for machining cylindrical gears with straight and modified tooth line using the multipass method. Made of steel 16MnCr5, gear wheels with a straight tooth line and with a longitudinally modified convex-convex tooth line were machined on a five-axis CNC milling machine DMG MORI CMX50U, using solid carbide milling cutters (cylindrical and ball end) for processing. The manufactured gears were inspected on a ZEISS coordinate measuring machine, using the software Gear Pro Involute. The conformity of the outline, the tooth line, and the gear pitch were assessed. The side surfaces of the teeth after machining according to the planned strategy were also assessed; the tests were carried out using the optical microscope Alicona Infinite Focus G5 and the contact profilographometer Taylor Hobson, Talysurf 120. The presented method is able to provide a very good quality of machined gears in relation to competing methods. The great advantage of this method is the use of a tool that is not geometrically related to the shape of the machined gear profile, which allows the production of cylindrical gears with a tooth and profile line other than the standard.

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