Transforming Industrial Manipulators via Kinesthetic Guidance for Automated Inspection of Complex Geometries.

Autor: Loukas C; SEARCH: Sensor Enabled Automation, Robotics & Control Hub, Centre for Ultrasonic Engineering (CUE), Department of Electronic & Electrical Engineering, University of Strathclyde, Royal College Building, 204 George Street, Glasgow G1 1XW, UK., Vasilev M; SEARCH: Sensor Enabled Automation, Robotics & Control Hub, Centre for Ultrasonic Engineering (CUE), Department of Electronic & Electrical Engineering, University of Strathclyde, Royal College Building, 204 George Street, Glasgow G1 1XW, UK., Zimmerman R; SEARCH: Sensor Enabled Automation, Robotics & Control Hub, Centre for Ultrasonic Engineering (CUE), Department of Electronic & Electrical Engineering, University of Strathclyde, Royal College Building, 204 George Street, Glasgow G1 1XW, UK., Vithanage RKW; SEARCH: Sensor Enabled Automation, Robotics & Control Hub, Centre for Ultrasonic Engineering (CUE), Department of Electronic & Electrical Engineering, University of Strathclyde, Royal College Building, 204 George Street, Glasgow G1 1XW, UK., Mohseni E; SEARCH: Sensor Enabled Automation, Robotics & Control Hub, Centre for Ultrasonic Engineering (CUE), Department of Electronic & Electrical Engineering, University of Strathclyde, Royal College Building, 204 George Street, Glasgow G1 1XW, UK., MacLeod CN; SEARCH: Sensor Enabled Automation, Robotics & Control Hub, Centre for Ultrasonic Engineering (CUE), Department of Electronic & Electrical Engineering, University of Strathclyde, Royal College Building, 204 George Street, Glasgow G1 1XW, UK., Lines D; SEARCH: Sensor Enabled Automation, Robotics & Control Hub, Centre for Ultrasonic Engineering (CUE), Department of Electronic & Electrical Engineering, University of Strathclyde, Royal College Building, 204 George Street, Glasgow G1 1XW, UK., Pierce SG; SEARCH: Sensor Enabled Automation, Robotics & Control Hub, Centre for Ultrasonic Engineering (CUE), Department of Electronic & Electrical Engineering, University of Strathclyde, Royal College Building, 204 George Street, Glasgow G1 1XW, UK., Williams S; Welding Engineering and Laser Processing Centre, University of Cranfield, Cranfield MK43 0AL, UK., Ding J; Welding Engineering and Laser Processing Centre, University of Cranfield, Cranfield MK43 0AL, UK., Burnham K; Digital Factory, NMIS, Industrial Business Park, Renfrew PA4 8BE, UK., Sibson J; Babcock International Group PLC, Bristol BS16 1EJ, UK., O'Hare T; Spirit Aerosystems Belfast, Belfast BT3 9DZ, Northern Ireland, UK., Grosser MR; Spirit Aerosystems, Wichita, KS 67210, USA.
Jazyk: angličtina
Zdroj: Sensors (Basel, Switzerland) [Sensors (Basel)] 2023 Apr 05; Vol. 23 (7). Date of Electronic Publication: 2023 Apr 05.
DOI: 10.3390/s23073757
Abstrakt: The increased demand for cost-efficient manufacturing and metrology inspection solutions for complex-shaped components in High-Value Manufacturing (HVM) sectors requires increased production throughput and precision. This drives the integration of automated robotic solutions. However, the current manipulators utilizing traditional programming approaches demand specialized robotic programming knowledge and make it challenging to generate complex paths and adapt easily to unique specifications per component, resulting in an inflexible and cumbersome teaching process. Therefore, this body of work proposes a novel software system to realize kinesthetic guidance for path planning in real-time intervals at 250 Hz, utilizing an external off-the-shelf force-torque (FT) sensor. The proposed work is demonstrated on a 500 mm 2 near-net-shaped Wire-Arc Additive Manufacturing (WAAM) complex component with embedded defects by teaching the inspection path for defect detection with a standard industrial robotic manipulator in a collaborative fashion and adaptively generating the kinematics resulting in the uniform coupling of ultrasound inspection. The utilized method proves superior in performance and speed, accelerating the programming time using online and offline approaches by an estimate of 88% to 98%. The proposed work is a unique development, retrofitting current industrial manipulators into collaborative entities, securing human job resources, and achieving flexible production.
Databáze: MEDLINE
Externí odkaz:
Nepřihlášeným uživatelům se plný text nezobrazuje