A Precise Automatic Assembly System for Fabrication of Complex Miniature Products

2011 ◽  
Vol 317-319 ◽  
pp. 757-763 ◽  
Author(s):  
Xi Wen Zhang ◽  
Xiao Dong Wang ◽  
Yi Luo ◽  
Lin Teng ◽  
Liang Chen ◽  
...  
Keyword(s):  
Vision System ◽  
Control Strategies ◽  
Force Sensor ◽  
Assembly System ◽  
Screw Thread ◽  
Feature Fitting ◽  
Local Feature Extraction ◽  
And Control ◽  
Measurement And Control ◽  
Assembly Error

Assembly is one of the most important procedure in manufacturing complex miniature products. Batch assembly is limited by the manual manipulation, for which specially trained technicians is required. In order to automatically assembly certain complex miniature products consisting of multiple parts with different shape and various dimension, and also to reduce the production cost and improve efficiency, an assembly system was developed. Hardware architecture of the system was discussed in detail. Measurement and control strategies in assembling procedure were presented. Local feature extraction and fitting algorithms, reference datum setting were applied to overcome the occlusion. Linear and circular feature fitting from multiple local images of parts, coordinate transformation and the compensation of stages assembly error angle among three local coordinates were adopted to improve the measuring accuracy of vision system. Microscale force sensor was introduced to control the contact force, and the accuracy obtained is less than 1mN. Torque sensor was adopted for sensing the torque during the screw thread assembling, stepping motor and flexible coupler were applied to make the torque smoothly transferred, all of which help precisely measuring and controlling the torque during the M1.4 screw thread assembly.

Design and Analysis of a Multimodal Grasper Having Shape Conformity and Within-Hand Manipulation With Adjustable Contact Forces

2019 ◽  
Vol 11 (5) ◽  
Author(s):  
Nagamanikandan Govindan ◽  
Asokan Thondiyath
Keyword(s):  
Control Strategies ◽  
Low Cost ◽  
Active Surface ◽  
Force Sensor ◽  
Contact Forces ◽  
Geometrical Shape ◽  
Planning And Control ◽  
Control Scheme ◽  
And Control ◽  
Compact Mechanism

Abstract This paper presents the design, analysis, and testing of a novel multimodal grasper having the capabilities of shape conformation, within-hand manipulation, and a built-in compact mechanism to vary the forces at the contact surface. The proposed grasper has two important qualities: versatility and less complexity. The former refers to the ability to grasp a range of objects having different geometrical shape, size, and payload and perform in-hand manipulations such as rolling and sliding, and the latter refers to the uncomplicated design, and ease of planning and control strategies. Increasing the number of functions performed by the grasper to adapt to a variety of tasks in structured and unstructured environments without increasing the mechanical complexity is the main interest of this research. The proposed grasper consists of two hybrid jaws having a rigid inner structure encompassed by a flexible, active gripping surface. The flexibility of the active surface has been exploited to achieve shape conformation, and the same has been utilized with a compact mechanism, introduced in the jaws, to vary the contact forces while grasping and manipulating an object. Simple and scalable structure, compactness, low cost, and simple control scheme are the main features of the proposed design. Detailed kinematic and static analysis are presented to show the capability of the grasper to adjust and estimate the contact forces without using a force sensor. Experiments are conducted on the fabricated prototype to validate the different modes of operation and to evaluate the advantages of the proposed concept.

Progress in sensor technology - progress in process control? Part I: Sensor property investigation and classification

2003 ◽  
Vol 47 (2) ◽  
pp. 103-112 ◽  
Author(s):  
L. Rieger ◽  
J. Alex ◽  
S. Winkler ◽  
M. Boehler ◽  
M. Thomann ◽  
...  
Keyword(s):  
Control Strategies ◽  
Sensor Technology ◽  
Limiting Factor ◽  
Test Environment ◽  
Sensor Property ◽  
Sensor Models ◽  
The Cost ◽  
And Control ◽  
Measurement And Control

To ensure correctly operating control systems, the measurement and control equipment in WWTPs must be mutually consistent. The dynamic simulation of activated sludge systems could offer a suitable tool for designing and optimising control strategies. Ideal or simplified sensor models represent a limiting factor for comparability with field applications. More realistic sensor models are therefore required. Two groups of sensor models are proposed on the basis of field and laboratory tests: one for specific sensors and another for a classification of sensor types to be used with the COST simulation benchmark environment. This should lead to a more realistic test environment and allow control engineers to define the requirements of the measuring equipment as a function of the selected control strategy.

scholarly journals Robotic Measurement and Control for Chiropractic Research

2006 ◽  
Vol 3 (1) ◽  
pp. 43-48 ◽  
Author(s):  
P. Goldsmith ◽  
S. Wynd ◽  
G. Kawchuk
Keyword(s):  
Robot Manipulator ◽  
Vision System ◽  
Parallel Robot ◽  
Calibration Procedure ◽  
Positional Accuracy ◽  
Experimental Procedure ◽  
Control Scheme ◽  
And Control ◽  
Measurement And Control ◽  
Chiropractic Research

The precision and programmability of robotic manipulators makes them suitable for biomechanics research, particularly when an experimental procedure must be accurately repeated multiple times. This paper describes a robotic system used to investigate biomechanical mechanisms of stroke in humans. A parallel robot manipulator is used to reproduce chiropractic manipulations on animal subjects using a 3-D vision system. An algorithm for calibrating the system is proposed and tested on the robot. An iterative learning control scheme is then introduced to improve positional accuracy. Experimental results demonstrate that the calibration procedure and learning scheme are both effective.

scholarly journals The measurement and control of high-risk host cell proteins for polysorbate degradation in biologics formulation

2022 ◽  
Author(s):  
Xuanwen Li ◽  
Fengqiang Wang ◽  
Hong Li ◽  
Douglas D Richardson ◽  
David J Roush
Keyword(s):  
High Risk ◽  
Host Cell ◽  
Method Development ◽  
Control Strategies ◽  
Ionic Surfactant ◽  
Formulation Development ◽  
High Concentration ◽  
Host Cell Proteins ◽  
And Control ◽  
Measurement And Control

Abstract Non-ionic surfactant polysorbates (PS), including PS-80 and PS-20, are commonly used in the formulation of biotherapeutic products for both preventing surface adsorption and acting as stabilizer against protein aggregation. Trace levels of residual host cell proteins (HCPs) with lipase or esterase enzymatic activity have been shown to degrade polysorbates in biologics formulation. The measurement and control of these low-abundance, high-risk HCPs for polysorbate degradation is an industry-wide challenge to achieve desired shelf-life of biopharmaceuticals in liquid formulation, especially for high-concentration formulation product development. Here, we reviewed the challenges, recent advances and future opportunities of analytical method development, risk assessment and control strategies for polysorbate degradation during formulation development with a focus on enzymatic degradation. Continued efforts to advance our understanding of polysorbate degradation in biologics formulation will help develop high-quality medicines for patients.

scholarly journals The role of measurement in the development of industrial automation

ACTA IMEKO ◽  
2014 ◽  
Vol 3 (1) ◽  
pp. 4
Author(s):  
S. S. Carlisle
Keyword(s):  
Quality Control ◽  
Process Control ◽  
Control Strategies ◽  
Manufacturing Processes ◽  
Industrial Automation ◽  
And Control ◽  
Measurement And Control ◽  
International Measurement

<p>This is a reissue of a paper which appeared in ACTA IMEKO 1967, Proceedings of the 4th International Measurement Congress, 1967, Warsaw, vol. 1, pp. 37-50.</p> <p>The paper sets a frame on the role of measurement and control as critical tools to support the automation of manufacturing processes. In this perspective three main requirements for measurement are discussed, i.e., to identify where automation can be most profitably used; to investigate individual process behaviors and hence to formulate process control strategies; and finally to perform quality control of products.</p>

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