Please wait a minute...
Shopping Cart Email List Chinese
Advanced Search Fig/Tab
Frontiers of Mechanical Engineering

ISSN 2095-0233

ISSN 2095-0241(Online)

CN 11-5984/TH

Postal Subscription Code 80-975

2018 Impact Factor: 0.989

Featured Articles  |  Most Downloaded  |  Most Reading
Online Submission Subscribe to Our RSS Content Feed
Front. Mech. Eng.    2016, Vol. 11 Issue (2) : 195-203    https://doi.org/10.1007/s11465-016-0390-1
RESEARCH ARTICLE
Strategy for robot motion and path planning in robot taping
Qilong YUAN1,I-Ming CHEN1,*(),Teguh Santoso LEMBONO1,Simon Nelson LANDÉN2,Victor MALMGREN2
1. School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore
2. School of Industrial Engineering and Management, KTH Royal Institute of Technology, Sweden
 Download: PDF(2809 KB)   HTML
 Export: BibTeX | EndNote | Reference Manager | ProCite | RefWorks
Abstract

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.
Keywords robot taping      path planning      robot manipulation      3D scanning     
Corresponding Author(s): I-Ming CHEN   
Online First Date: 24 May 2016    Issue Date: 29 June 2016
 Cite this article:   
Qilong YUAN,I-Ming CHEN,Teguh Santoso LEMBONO, et al. Strategy for robot motion and path planning in robot taping[J]. Front. Mech. Eng., 2016, 11(2): 195-203.
 URL:  
https://academic.hep.com.cn/fme/EN/10.1007/s11465-016-0390-1
https://academic.hep.com.cn/fme/EN/Y2016/V11/I2/195
Fig.1  Manual taping
Fig.2  Surface segmentation
Fig.3  (a) The IVC-3D SICK scanner; (b) scanning model from the scanner
Fig.4  Illustration of cylindrical shape taping
Fig.5  Area of interest for taping
Fig.6  3D surface model for taping. (a) Tape coordinates definition; (b) the displacement of tape elements while taping
Fig.7  Flipping of the tape element while taping
Fig.8  Illustration on taping of groove features. (a) Actual setup; (b) digital model
Fig.9  Collision map for the workpiece
Inputs:1. Collision map of workspaceMesh format Z= Mesh(X,Y);2. Defining collision boundary lines of the tool;3. The posture of the tool on top of the workpiece.
(For each boundary line segment li, pick the points of n-section of the line segment, { l s 1 , l s 2 , l s 3 , ... , l s m } and check if any of them are outside the collision boundary.)Bool collision=False;While i<nGenerate the points of n-section of the line segment li { l s 1 , l s 2 , l s 3 , ... , l s m } ; For j=1, 2, 3,..,m, do If l s j ( 3 ) < Z ( l s j ( 1 ) , l s j ( 2 ) ) {Collision=True; return;} (The points on the tool boundary should be above the workpiece) EndEnd
Tab.1  
Fig.10  Taping tool boundary line model on the workpiece model
Fig.11  Taping path with no collision
Fig.12  Taping rotational symmetrical surfaces
Fig.13  An automatic taping system
Fig.14  Taping tool design. (a) Tool for surfaces without grooves; (b) tool for groove surfaces
Fig.15  Taping process of the automatic robot taping system: (a) Taping of cylindrical-like surfaces; (b) taping of freeform surfaces; (c) taping of grooved surfaces
1 Chen W, Zhao D. Path planning for spray painting robot of workpiece surfaces. Mathematical Problems in Engineering, 2013, 2013: 659457
https://doi.org/10.1155/2013/659457
2 Chen H, Sheng W, Xi N, . Automated robot trajectory planning for spray painting of free-form surfaces in automotive manufacturing. In: Proceedings of ICRA’02 IEEE International Conference on Robotics and Automation. IEEE, 2002, 1, 450–455
https://doi.org/10.1109/ROBOT.2002.1013401
3 Chen H, Fuhlbrigge T, Li X. Automated industrial robot path planning for spray painting process: A review. In: Proceedings of 2008 IEEE International Conference on Automation Science and Engineering. Arlington: IEEE, 2008, 522–527
https://doi.org/10.1109/COASE.2008.4626515
4 Hegels D, Wiederkehr T, Müller H. Simulation based iterative post-optimization of paths of robot guided thermal spraying. Robotics and Computer-integrated Manufacturing, 2015, 35: 1–15
https://doi.org/10.1016/j.rcim.2015.02.002
5 Baker C L, Baker C R, Galati D G, . WIPO Patent, WO/2014/145471A1, 2014-09-18
6 Hottendorf W J. US Patent, 3654038, 1972-04-04
7 Horiguchi N, Kaneko Y, Uda S. US Patent, 5105601, 1992-04-21
8 Lembono T S, Yuan Q, Zou Y, . Automatic robot taping: System integration. In: Proceedings of 2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM). Busan: IEEE, 2015, 784–789
https://doi.org/10.1109/AIM.2015.7222633
9 Yuan Q, Lembono T S, Zou Y, . Automatic robot taping: Auto-path planning and manipulation. In: Proceedings of 2015 IEEE 7th Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM). Siem Reap: IEEE, 2015,175–180
https://doi.org/10.1109/ICCIS.2015.7274616
10 Izadi S, Kim D, Hilliges O, . KinectFusion: Real-time 3D reconstruction and interaction using a moving depth camera. In: Proceedings of the 24th Annual ACM Symposium on User Interface Software and Technology. New York: ACM, 2011, 559–568
https://doi.org/10.1145/2047196.2047270
11 Newcombe R A, Izadi S, Hilliges O, . KinectFusion: Real-time dense surface mapping and tracking. In: Proceedings of 2011 10th IEEE International Symposium on Mixed and Augmented Reality (ISMAR). Basel: IEEE, 2011, 127–136
https://doi.org/10.1109/ISMAR.2011.6092378
12 Yuan Q, Lembono T S, Chen I. Automatic robot taping: Strategy and Enhancement. In: Proceedings of 21st CISM IFToMM Symposium on Robot Design, Dynamics and Control. Udine, 2016
13 Murray R M, Sastry S S, Li Z. A Mathematical Introduction to Robotic Manipulation. Boca Raton: CRC Press, 1994
14 Yuan Q, Chen I. Localization and velocity tracking of human via 3 IMU sensors. Sensors and Actuators A: Physical, 2014, 212: 25–33
https://doi.org/10.1016/j.sna.2014.03.004
15 Craig J J. Introduction to Robotics: Mechanics and Control. 3rd ed. Upper Saddle River: Addison Wesley, 2005
16 Yu H, Zhang J, Jiao Z. Geodesics on point clouds. Mathematical Problems in Engineering, 2014, 2014(2014): 860136
https://doi.org/10.1155/2014/860136
[1] Shulei YAO, Xian CAO, Shuang LIU, Congyang GONG, Kaiming ZHANG, Chengcheng ZHANG, Xiancheng ZHANG. Two-sided ultrasonic surface rolling process of aeroengine blades based on on-machine noncontact measurement[J]. Front. Mech. Eng., 2020, 15(2): 240-255.
Viewed
Full text


Abstract

Cited
  Shared   
  Discussed