scholarly journals Scheduling the Process of Robot Welding of Thin-Walled Steel Sheet Structures under Constraint

2021 ◽  
Vol 11 (12) ◽  
pp. 5683
Author(s):  
Łukasz Sobaszek ◽  
Antoni Świć
Keyword(s):  
Production Scheduling ◽  
Steel Sheet ◽  
Industrial Robot ◽  
Implementation Process ◽  
Operation Time ◽  
Industrial Robots ◽  
Process Technology ◽  
Robot Welding ◽  
Depth Analysis ◽  
Thin Walled

Industrial robot work optimization has been extensively studied. The main reason for analysis is the growing number of robots implemented in the different manufacturing processes. In order to benefit from the implementation of industrial robots, each implementation process ought to be preceded by an in-depth analysis of the stand work. Often the integrator’s intuition is the only base for decisions. This work focuses on the need for individualized scheduling and analysis of robotic production tasks in the context of overall production scheduling. The method of alternative schedules analysis was presented. The paper presents a scheduling process for an industrial robot in the process of robot welding of thin-walled steel sheet structures under constraints caused by the process technology. The proposed method allowed to reduce the assumed time criterion at the level of 5.4% for one detail. The obtained value of technological operation time reduction resulted in increased time savings throughout the entire production process.

scholarly journals Industrial robot-based system design of thickness scanning measurement using ultrasonic

2021 ◽  
Vol 12 (1) ◽  
pp. 479-486
Author(s):  
Haibo Liu ◽  
Baoliang Liu ◽  
Meng Lian ◽  
Pingping Li ◽  
Tianran Liu ◽  
...  
Keyword(s):  
High Speed ◽  
Measurement Method ◽  
Industrial Robot ◽  
Thickness Measurement ◽  
Industrial Robots ◽  
Measurement Unit ◽  
Ultrasonic Probe ◽  
State Discrimination ◽  
Thin Walled ◽  
Ultrasonic Thickness

Abstract. Wall thickness is one of the core indicators for measuring the quality of large thin-walled parts such as rocket siding and aircraft skin. However, the traditional handheld thickness measurement method has high labor intensity, low efficiency and poor accuracy consistency. Therefore, an in situ ultrasonic automatic scanning thickness measurement method for large thin-walled parts based on industrial robots is proposed. This “industrial robot + ultrasound” integrated function is a compact system, and a set of innovative methodological or technical solutions is presented, such as (i) TCP and UDP communication protocols being constructed to realize a high-speed and stable communication relationship between the upper computer, robot motion controller and ultrasonic thickness measurement unit; (ii) a coupling gap adjustment method based on eddy-current sensors being adopted to ensure the adaptability of the ultrasonic probe to surface topography of the measured part during scanning measurement; and (iii) a multi-sensor coordinate unified model and coupling gap state discrimination model being established for robot-aided thickness measurement. To verify the feasibility of the proposed method, a series of calibrations and experiments were designed based on the KUKA robot platform and the developed ultrasonic pulse measurement system. Finally, the industrial robot-based ultrasonic thickness scanning measurement has been built and tested for performing the measurement of a rocket tank wall.

Fabrication of curved overhanging thin-walled structure with robotic wire and arc additive manufacturing (RWAAM)

2019 ◽  
Vol 47 (1) ◽  
pp. 102-110
Author(s):  
Yifeng Li ◽  
Xunpeng Qin ◽  
Qiang Wu ◽  
Zeqi Hu ◽  
Tan Shao
Keyword(s):  
Additive Manufacturing ◽  
Weld Pool ◽  
Industrial Robot ◽  
Curve Surface ◽  
Industrial Robots ◽  
Force Model ◽  
Content Type ◽  
Forming Characteristics ◽  
Thin Walled ◽  
Torch Angle

Purpose Robotic wire and arc additive manufacturing (RWAAM) is becoming more and more popular for its capability of fabricating metallic parts with complicated structure. To unlock the potential of 6-DOF industrial robots and improve the power of additive manufacturing, this paper aims to present a method to fabricate curved overhanging thin-walled parts free from turn table and support structures. Design/methodology/approach Five groups of straight inclined thin-walled parts with different angles were fabricated with the torch aligned with the inclination angle using RWAAM, and the angle precision was verified by recording the growth of each layer in both horizontal and vertical directions; furthermore, the experimental phenomena was explained with the force model of the molten pool and the forming characteristics was investigated. Based on the results above, an algorithm for fabricating curved overhanging thin-walled part was presented and validated. Findings The force model and forming characteristics during the RWAAM process were investigated. Based on the result, the influence of the torch orientation on the weld pool flow was used to control the pool flow, then a practical algorithm for fabricating curved overhanging thin-walled part was proposed and validated. Originality/value Regarding the fabrication of curved overhanging thin-walled parts, given the influences of the torch angles on the deposited morphology, porosity formation rate and weld pool flow, the flexibility of 6-DOF industrial robot was fully used to realize instant adjustment of the torch angle. In this paper, the deposition point and torch orientation of each layer of a robotic fabrication path was determined by the contour equation of the curve surface. By adjusting the torch angle, the pool flow was controlled and better forming quality was acquired.

SAFETY AND RISK ASSESSMENT AT AUTOMATED WORKPLACE

2018 ◽  
pp. 78-84
Author(s):  
Marek Vagas
Keyword(s):  
Risk Assessment ◽  
Industrial Robot ◽  
Industrial Robots ◽  
Added Value ◽  
Growing Up ◽  
Target Setting ◽  
Clear View ◽  
General Safety

Urgency of the research. Automated workplaces are growing up in present, especially with implementation of industrial robots with feasibility of various dispositions, where safety and risk assessment is considered as most important issues. Target setting. The protection of workers must be at the first place, therefore safety and risk assessment at automated workplaces is most important problematic, which had presented in this article Actual scientific researches and issues analysis. Actual research is much more focused at standard workplaces without industrial robots. So, missing of information from the field of automated workplaces in connection with various dispositions can be considered as added value of article. Uninvestigated parts of general matters defining. Despite to lot of general safety instructions in this area, still is missed clear view only at automated workplace with industrial robots. The research objective. The aim of article is to provide general instructions directly from the field of automated workplaces The statement of basic materials. For success realization of automated workplace is good to have a helping hand and orientation requirements needed for risk assessment at the workplace. Conclusions. The results published in this article increase the awareness and information of such automated workplaces, together with industrial robots. In addition, presented general steps and requirements helps persons for better realization of these types of workplaces, where major role takes an industrial robot. Our proposed solution can be considered as relevant base for risk assessment such workplaces with safety fences or light barriers.

A Polishing Robot Force Control System Based on Time Series Data in Industrial Internet of Things

2021 ◽  
Vol 21 (2) ◽  
pp. 1-22
Author(s):  
Chen Zhang ◽  
Zhuo Tang ◽  
Kenli Li ◽  
Jianzhong Yang ◽  
Li Yang
Keyword(s):  
Time Series ◽  
Control System ◽  
Force Control ◽  
Time Series Data ◽  
Industrial Robot ◽  
Industrial Robots ◽  
Series Data ◽  
Industrial Internet Of Things ◽  
Industrial Internet ◽  
Force Control System

Installing a six-dimensional force/torque sensor on an industrial arm for force feedback is a common robotic force control strategy. However, because of the high price of force/torque sensors and the closedness of an industrial robot control system, this method is not convenient for industrial mass production applications. Various types of data generated by industrial robots during the polishing process can be saved, transmitted, and applied, benefiting from the growth of the industrial internet of things (IIoT). Therefore, we propose a constant force control system that combines an industrial robot control system and industrial robot offline programming software for a polishing robot based on IIoT time series data. The system mainly consists of four parts, which can achieve constant force polishing of industrial robots in mass production. (1) Data collection module. Install a six-dimensional force/torque sensor at a manipulator and collect the robot data (current series data, etc.) and sensor data (force/torque series data). (2) Data analysis module. Establish a relationship model based on variant long short-term memory which we propose between current time series data of the polishing manipulator and data of the force sensor. (3) Data prediction module. A large number of sensorless polishing robots of the same type can utilize that model to predict force time series. (4) Trajectory optimization module. The polishing trajectories can be adjusted according to the prediction sequences. The experiments verified that the relational model we proposed has an accurate prediction, small error, and a manipulator taking advantage of this method has a better polishing effect.

scholarly journals Comparative Analysis of the Life-Cycle Cost of Robot Substitution: A Case of Automobile Welding Production in China

Symmetry ◽  
2021 ◽  
Vol 13 (2) ◽  
pp. 226
Author(s):  
Xuyang Zhao ◽  
Cisheng Wu ◽  
Duanyong Liu
Keyword(s):  
Life Cycle ◽  
Systems Engineering ◽  
Life Cycle Cost ◽  
Manufacturing Systems ◽  
Large Scale ◽  
Cost Allocation ◽  
Industrial Robot ◽  
Case Analysis ◽  
Industrial Robots ◽  
Analysis Model

Within the context of the large-scale application of industrial robots, methods of analyzing the life-cycle cost (LCC) of industrial robot production have shown considerable developments, but there remains a lack of methods that allow for the examination of robot substitution. Taking inspiration from the symmetry philosophy in manufacturing systems engineering, this article further establishes a comparative LCC analysis model to compare the LCC of the industrial robot production with traditional production at the same time. This model introduces intangible costs (covering idle loss, efficiency loss and defect loss) to supplement the actual costs and comprehensively uses various methods for cost allocation and variable estimation to conduct total cost and the cost efficiency analysis, together with hierarchical decomposition and dynamic comparison. To demonstrate the model, an investigation of a Chinese automobile manufacturer is provided to compare the LCC of welding robot production with that of manual welding production; methods of case analysis and simulation are combined, and a thorough comparison is done with related existing works to show the validity of this framework. In accordance with this study, a simple template is developed to support the decision-making analysis of the application and cost management of industrial robots. In addition, the case analysis and simulations can provide references for enterprises in emerging markets in relation to robot substitution.

scholarly journals The ‘3CE2CE’ Framework—Change Management Towards a Circular Economy: Opportunities for Agribusiness

2021 ◽  
Author(s):  
Nan-Hua Nadja Yang ◽  
Ana Carolina Bertassini ◽  
Jéssica Alves Justo Mendes ◽  
Mateus Cecílio Gerolamo
Keyword(s):  
Content Analysis ◽  
Literature Review ◽  
Change Management ◽  
Circular Economy ◽  
Agricultural Sector ◽  
Implementation Process ◽  
Managerial Practices ◽  
Depth Analysis ◽  
The Common ◽  
Transformation Processes

AbstractFor the transition towards a circular economy (CE), organisations have to be prepared to adapt to major changes. Thus, the concept and implementation of change management (CM) will be essential to an organisation’s success during this transformative period. Studies have shown that organisational CE barriers were more significant than individual CE barriers. To overcome such obstacles, the most appropriate set of managerial practices should be carefully considered. These barriers also have the potential to influence the agricultural sector, which seeks to adopt more sustainable ways of production. The goal of this paper is to propose a solution framework based on CM strategies to overcome organisational challenges posed by a CE, especially for agribusinesses. To accomplish this objectively, a systematic literature review and a content analysis were conducted. The common errors in CM within the implementation process and the main CE barriers were identified and classified. An in-depth analysis of the issue’s roots led to a solid understanding of how to tackle such CM problems. This paper presents an overview of organisational CE barriers verified in the agricultural context, the common errors in CM, and the correlation between these findings. The two areas were then combined in a matrix that shows the connection between common errors in CM errors and CE barriers. Based on this result, a solution framework called 3CE2CE was developed that provides a step-by-step guide on how organisations can successfully undergo transformation processes towards a CE with the principles of CM.

scholarly journals Research of Calibration Method for Industrial Robot Based on Error Model of Position

2021 ◽  
Vol 11 (3) ◽  
pp. 1287
Author(s):  
Tianyan Chen ◽  
Jinsong Lin ◽  
Deyu Wu ◽  
Haibin Wu
Keyword(s):  
Coordinate System ◽  
Industrial Robot ◽  
Calibration Method ◽  
Error Model ◽  
Position Error ◽  
Industrial Robots ◽  
Positioning Error ◽  
Robot Position ◽  
General Measurement ◽  
Parameter Error

Based on the current situation of high precision and comparatively low APA (absolute positioning accuracy) in industrial robots, a calibration method to enhance the APA of industrial robots is proposed. In view of the "hidden" characteristics of the RBCS (robot base coordinate system) and the FCS (flange coordinate system) in the measurement process, a comparatively general measurement and calibration method of the RBCS and the FCS is proposed, and the source of the robot terminal position error is classified into three aspects: positioning error of industrial RBCS, kinematics parameter error of manipulator, and positioning error of industrial robot end FCS. The robot position error model is established, and the relation equation of the robot end position error and the industrial robot model parameter error is deduced. By solving the equation, the parameter error identification and the supplementary results are obtained, and the method of compensating the error by using the robot joint angle is realized. The Leica laser tracker is used to verify the calibration method on ABB IRB120 industrial robot. The experimental results show that the calibration method can effectively enhance the APA of the robot.

scholarly journals Fault diagnosis of industrial robot reducer by an extreme learning machine with a level-based learning swarm optimizer

2021 ◽  
Vol 13 (5) ◽  
pp. 168781402110195
Author(s):  
Jianwen Guo ◽  
Xiaoyan Li ◽  
Zhenpeng Lao ◽  
Yandong Luo ◽  
Jiapeng Wu ◽  
...  
Keyword(s):  
Fault Diagnosis ◽  
Extreme Learning Machine ◽  
Large Scale ◽  
Production Efficiency ◽  
Industrial Robot ◽  
Optimal Solution ◽  
Industrial Robots ◽  
Generalization Performance ◽  
Gradient Descent Algorithm ◽  
Learning Machine

Fault diagnosis is of great significance to improve the production efficiency and accuracy of industrial robots. Compared with the traditional gradient descent algorithm, the extreme learning machine (ELM) has the advantage of fast computing speed, but the input weights and the hidden node biases that are obtained at random affects the accuracy and generalization performance of ELM. However, the level-based learning swarm optimizer algorithm (LLSO) can quickly and effectively find the global optimal solution of large-scale problems, and can be used to solve the optimal combination of large-scale input weights and hidden biases in ELM. This paper proposes an extreme learning machine with a level-based learning swarm optimizer (LLSO-ELM) for fault diagnosis of industrial robot RV reducer. The model is tested by combining the attitude data of reducer gear under different fault modes. Compared with ELM, the experimental results show that this method has good stability and generalization performance.

scholarly journals Sustainable Scheduling of the Production in the Aluminum Furnace Hot Rolling Section with Uncertain Demand

2021 ◽  
Vol 13 (14) ◽  
pp. 7708
Author(s):  
Yiping Huang ◽  
Qin Yang ◽  
Jinfeng Liu ◽  
Xiao Li ◽  
Jie Zhang
Keyword(s):  
Hot Rolling ◽  
Production Scheduling ◽  
Demand Uncertainty ◽  
Flow Shop ◽  
Operation Time ◽  
Decision Time ◽  
Scenario Tree ◽  
Mixed Integer ◽  
Rolling Horizon ◽  
The Sustainable Development

In order to reduce the energy consumption of furnaces and save costs in the product delivery time, the focus of this paper is to discuss the uncertainty of demand in the rolling horizon and to globally optimize the sustainability of the production in the aluminum furnace hot rolling section in environmental and economic dimensions. First, the triples α/β/γ are used to describe the production scheduling in the aluminum furnace hot rolling section as the scheduling of flexible flow shop, satisfied to constraints of demand uncertainty, operation logic, operation time, capacity and demand, objectives of minimizing the residence time of the ingot in the furnace and minimizing the makespan. Second, on the basis of describing the uncertainty of demand in rolling horizon with the scenario tree, a multi-objective mixed integer linear programming (MILP) optimization model for sustainable production in the aluminum furnace hot rolling section is formulated. Finally, an aluminum alloy manufacturer is taken as an example to illustrate the proposed model. The computational results show that when the objective weight combination takes the value of α=0.7, β=0.3, the sustainability indicators of the environmental and economic dimensions can be optimized to the maximum extent possible at the same time. Increasingly, managerial suggestions associated with the trade-off between environmental and economic dimensions are presented. Scheduling in the rolling horizon can optimize the production process of the aluminum furnace hot rolling section globally, indicating that it is more conducive to the sustainable development of the environment and economic dimensions than scheduling in a single decision time period.

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