scholarly journals Lifecycle Design of Fastening Systems in Concrete Supported by BIM: Case Study Subsequent Assembly of an Industrial Robot

2019 ◽  
Author(s):  
Panagiotis Spyridis ◽  
Marvin Hoepfner ◽  
Mike Gralla ◽  
Lisa Theresa Lenz ◽  
Kai Christian Weist
Keyword(s):  
Industrial Robot ◽  
Lifecycle Design

Complete Accessibility of Oscillations in Robotic Systems by Orthogonal Projections

1990 ◽  
Vol 112 (2) ◽  
pp. 194-202 ◽  
Author(s):  
Sabri Tosunoglu ◽  
Shyng-Her Lin ◽  
Delbert Tesar
Keyword(s):  
Current Practice ◽  
Industrial Robot ◽  
Robotic Systems ◽  
Orthogonal Projections ◽  
Small Oscillations ◽  
Robotic Arms ◽  
Driven System ◽  
System Equations ◽  
Six Degree Of Freedom

The current practice of controller development for flexible robotic systems generally focuses on one-link robotic arms and is valid for small oscillations. This work addresses the control of n-link, serial, spatial robotic systems modeled with m1 joint and m2 link flexibilities such that n≥m1+m2. System compliance is modeled by local springs and nonactuated prismatic and revolute type pseudo joints. The coupled, nonlinear, error-driven system equations are derived for the complete model without linearization or neglecting certain terms. For this system, the complete accessibility of vibrations is studied by orthogonal projections. It is shown that under some configurations of a robotic system, the induced oscillations may not be accessible to the controller. Given accessibility, the controller developed in this work assures the global asymptotic stability of the system. Example numerical simulations are presented based on the model of a six-degree-of-freedom Cincinnati Milacron T3-776 industrial robot. One example models the system compliance in four joints, while another case study simulates four lateral link oscillations. These examples show that this controller, even under inaccurate payload description, eliminates the oscillations while tracking desired trajectories.

A case study in human–robot collaboration in the disassembly of press-fitted components

2019 ◽  
Vol 234 (3) ◽  
pp. 654-664 ◽  
Author(s):  
Jun Huang ◽  
Duc Truong Pham ◽  
Yongjing Wang ◽  
Mo Qu ◽  
Chunqian Ji ◽  
...  
Keyword(s):  
End Of Life ◽  
Industrial Robot ◽  
New Method ◽  
Water Pump ◽  
Compliance Control ◽  
Critical Step ◽  
Active Compliance ◽  
Human Robot Collaboration ◽  
Collaborative Robot

Human–robot collaborative disassembly is an approach designed to mitigate the effects of uncertainties associated with the condition of end-of-life products returned for remanufacturing. This flexible semi-autonomous approach can also handle unpredictability in the frequency and numbers of such returns as well as variance in the remanufacturing process. This article focusses on disassembly, which is the first and arguably the most critical step in remanufacturing. The article presents a new method for disassembling press-fitted components using human–robot collaboration based on the active compliance provided by a collaborative robot. The article first introduces the concepts of human–robot collaborative disassembly and outlines the method of active compliance control. It then details a case study designed to demonstrate the proposed method. The study involved the disassembly of an automotive water pump by a collaborative industrial robot working with a human operator to take apart components that had been press-fitted together. The results show the feasibility of the proposed method.

Path Feasibility and Modification Based on the PUMA 560 Workspace Analysis

1994 ◽  
Vol 116 (1) ◽  
pp. 36-43 ◽  
Author(s):  
Kuo-Chiang Shao ◽  
Kuu-young Young
Keyword(s):  
Robot Manipulator ◽  
Industrial Robot ◽  
Practical Application ◽  
Kinematic Constraints ◽  
Workspace Analysis ◽  
Task Requirements ◽  
The Given ◽  
The Relationship ◽  
Robot Workspace

Robot paths are planned according to different industrial tasks. Their kinematic feasibility is restrained by the structure of the given robot manipulator. In order to design feasible paths under kinematic constraints and different task requirements, we propose first to utilize the geometry of the given robot to generate the geometric boundaries of different regions corresponding to kinematic constraints in the robot workspace. Geometric expressions are then derived to describe the relationship about the planned path and the robot workspace. Finally, by applying the developed modification strategies based on different task requirements, feasible paths can be obtained by modifying the infeasible portions of the paths. To demonstrate the proposed feasibility and modification schemes, the PUMA 560 robot manipulator is selected as a case study due to its complexity and practical application. The results are then extended to general wrist-partitioned types of industrial robot manipulators.

Challenges in Sustainable Manufacturing With Industrial and Collaborative Robots: A Case Study

2018 ◽  
Author(s):  
Romain Farel ◽  
Selma Kchir ◽  
Xavier Lamy ◽  
Mathieu Grossard
Keyword(s):  
Manufacturing Process ◽  
Return On Investment ◽  
Industrial Robot ◽  
Sustainable Manufacturing ◽  
Programming By Demonstration ◽  
End User ◽  
Manual Work ◽  
Considerable Cost ◽  
Collaborative Robot

Automation of manufacturing process with robots is an industrial challenge, generally evaluated by the Return On Investment (ROI) that such a transformation could generate. However, the automation has a considerable cost particularly for SMEs, which makes a barrier to access and limits the motivation of facilitating the manual work of the operators, despite of nonergonomic and risky situations. In this study, supported by the European project HORSE, we went through the development of a robotic solution to assist the operator in the manufacturing. This component called programming-by-demonstration is integrated in both main categories of automation: industrial robot and collaborative robot (cobot). Both applications are tested and evaluated in a real manufacturing task (cutting cast pieces from foundry) and evaluated by the industrial end-user. The paper states on the application of the developed component, and concludes with the lesson learned.

Temperature Effects on Performance of Industrial Robots Made of Composite Materials

2011 ◽  
Vol 403-408 ◽  
pp. 603-606
Author(s):  
Alin Ristea ◽  
Oprean Aurel
Keyword(s):  
Composite Materials ◽  
Temperature Effects ◽  
Theoretical Study ◽  
Industrial Robot ◽  
Industrial Robots ◽  
Positioning Precision ◽  
Effects Of Temperature ◽  
Mechanical Elements

Industrial Robots design is always a challenge in terms of the materials being chosen for manufacturing the mechanical elements of the robots. The present paper is a theoretical study on the effects of temperature to the positioning precision of the robots with mechanical elements having composite materials in their structure. A case study was made on a SCARA industrial robot structure.

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