Strategy for robot motion and path planning in robot taping
| Autor: | Qilong Yuan, Teguh Santoso Lembono, Simon Nelson Landén, Victor Malmgren, I-Ming Chen |
|---|---|
| Přispěvatelé: | School of Mechanical and Aerospace Engineering |
| Rok vydání: | 2016 |
| Předmět: |
0209 industrial biotechnology
Engineering Engineering drawing TheoryofComputation_COMPUTATIONBYABSTRACTDEVICES business.industry Mechanical Engineering Spray painting 020208 electrical & electronic engineering Masking tape Robot taping ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION Process (computing) Robot manipulator 3d scanning 02 engineering and technology law.invention 020901 industrial engineering & automation law 0202 electrical engineering electronic engineering information engineering Robot Motion planning business Robot motion Path planning ComputingMethodologies_COMPUTERGRAPHICS |
| Zdroj: | Frontiers of Mechanical Engineering. 11:195-203 |
| ISSN: | 2095-0241 2095-0233 |
| Popis: | Covering objects with masking tapes is a common process for surface protection in processes like spray painting, plasma spraying, shot peening, etc. Manual taping is tedious and takes a lot of effort of the workers. The taping process is a special process which requires correct surface covering strategy and proper attachment of the masking tape for an efficient surface protection. We have introduced an automatic robot taping system consisting of a robot manipulator, a rotating platform, a 3D scanner and specially designed taping end-effectors. This paper mainly talks about the surface covering strategies for different classes of geometries. The methods and corresponding taping tools are introduced for taping of following classes of surfaces: Cylindrical/extended surfaces, freeform surfaces with no grooves, surfaces with grooves, and rotational symmetrical surfaces. A collision avoidance algorithm is introduced for the robot taping manipulation. With further improvements on segmenting surfaces of taping parts and tape cutting mechanisms, such taping solution with the taping tool and the taping methodology can be combined as a very useful and practical taping package to assist humans in this tedious and time costly work. ASTAR (Agency for Sci., Tech. and Research, S’pore) Accepted version |
| Databáze: | OpenAIRE |
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