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Virtual Reality Application for Simulation and off-line programming of the Mitsubishi Movemaster RV-M1 Robot Integrated with the Oculus Rift to Improve Students Training

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Procedia Computer Science 2015年 75卷 107-112页

作者： Raúl Crespo René García Samuel Quiroz Tecnológico de Monterrey Calle del Puente #222 Col. Ejidos de Huipulco Tlalpan 14380 D. F. México

The overall purpose of this project is to test the impact and potential benefits of Virtual Reality technology by improving the current training methods for the operation of the Mitsubishi Movemaster RV-M1 Robot. The final application aims to achieve this goal by increasing the user's interactivity with the robot's features inside a virtual environment developed using the game engine Unity and the Oculus Rift headset for the virtual visualization. By using this application, on site operation time is decreased mainly by allowing off-line programming of the equipment. It also allows universities without or with limited industrial machinery to provide their students a way to learn and practice on industrial automation and robotics simulation topics without inconvenience. The application is designed to decrease the student's learning curve by displaying a complete virtual environment where the tridimensional model of the robotic arm can be visualized and programmed according to the real model's parameters and specifications. Joint type moving sequences are compiled into a file which afterwards can be transferred to the robot for real testing and execution. The system integrates a set of joysticks that allows the user to program each of the robot's joints as well as display several features of it in the virtual environment such as animations, images and text information that simplify the instructions shown in a printed manual. In order to find an optimized, collision-free movement sequence between two points an A* shortest path algorithm is implemented using some of the built-in tools and plugins available in Unity and its Asset store. As a result of this last feature, the application can create a comparison between the user's input sequence and a computer generated sequence based on the A* algorithm.

关键词： Virtual Reality Robotics off-line programming Unity Oculus Rift A* algorithm

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off-line programming System of Industrial Robot for Spraying Manufacturing Optimization 33

Off-line Programming System of Industrial Robot for Spraying...

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33rd Chinese Control Conference (CCC)

作者： Zhou Bo Zhang Xi Meng Zhengda Dai Xianzhang Southeast Univ Minist Educ Sch Automat Key Lab Measurement & Control CSE Nanjing 200196 Jiangsu Peoples R China

ISBN: (纸本)9781479947249

Artificial teaching used of traditional industrial robots in manufacturing severely restrict the improvement of the productivity, and offline programming technique is regarded as the key technology to solve this problem. In this paper, the paint robot is studied on the following modules, including importing and preprocessing of CAD workpiece model, spraying process modeling, spray path planning, trajectory optimization and adjustment, spraying process simulation and performance analysis, and spraying robot trajectory generation, which is based on deep analysis of the basic characteristics of spray manufacturing systems. A set of core technologies and algorithms with a high degree of automation, optimization and flexibility have formed, which realizes offline simulation and performance evaluation for complex spraying tasks, so as to achieve the purpose of optimizing spray effect, improving the efficiency of spraying operations and save spraying costs. Simulation and spraying experimental results show the effectiveness and practicality of offline programming system developed in this paper.

关键词： Spray painting robot off-line programming trajectory planning virtual reality

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Numerical Analysis of Sagging Based on Rheological Properties of a Paint Film and Proposal for a Novel Index to Evaluate the Amount of Sag

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IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING 2024年第3期21卷 2237-2250页

作者： Takahashi, Yoshinobu Tanaka, Genichiro Chang, Fangshou Kato, Fumihiro Iwata, Hiroyasu Waseda Univ Fac Sci & Engn Tokyo 1620042 Japan Waseda Univ Grad Sch Creat Sci & Engn Tokyo 1620042 Japan Waseda Univ Global Robot Acad Lab Tokyo 1620042 Japan

In the present study, we used computational fluid dynamics to analyze the sag caused by spray painting, considering the change in paint shape due to flow. We focused on the paint adhering to the target surface because this behavior has not been previously examined. The particle method was adopted for the calculation because it enabled a stable analysis of the paint droplets and the complex uneven surface of the paint film. A high-speed camera and image analysis were used to capture the spray painting and identify the parameter values. Using the developed model, we analyzed the change in the film thickness distribution for painting on a flat plate in the vertical direction. It was confirmed that the numerical and experimental data correlated for two conditions of the target distance. In addition, we proposed a new index, Degree of Sagging (DSG), to evaluate the amount of sag based on the physical properties of the paint rheology and the geometry of the target. In the painting tests on flat plates with different angles, a strong positive correlation of 0.95 was observed between the sum of the calculated DSG values and the measured paint flow distance due to sag. In the painting tests on L-shaped surfaces, the predicted sag appearance by DSG agreed with the measured results at 14 of the 15 measurement points under all conditions. Overall, a computational model was developed for field implementation that could predict painting thickness distribution and sag occurrence.

关键词： Computational fluid dynamics function-based model off-line programming modeling paint thickness particle method rheology sagging spray painting

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A parametric distribution model of electrostatic spray rotating bell and application for automobile painting

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JOURNAL OF COATINGS TECHNOLOGY AND RESEARCH 2023年第5期20卷 1727-1745页

作者： Zhang, Peilun Gao, Weiguo Zhao, Chen Liu, Hao Wang, Xuhao Meng, Xiangzhi Tianjin Univ Sch Mech Engn 135 Yaguan Rd Tianjin 300350 Peoples R China Civil Aviat Univ China Aeronaut Engn Coll 2898 Jinbei Rd Tianjin 300300 Peoples R China Automot Engn Corp 91 Changjiang Rd Tianjin 300113 Peoples R China

Compared with spray gun spraying, electrostatic spray rotating bell (ESRB) spraying can provide better film forming quality and higher adhesion rate, which is more suitable for the automobile painting. However, the complexity of the automobile surface geometry and the spray pattern produced by ESRB painting makes the trajectory planning and the determination of spraying parameters challenging. This research presents a coating thickness distribution model for ESRB atomizer with uniform motion and establishes a parametric model to express the functional relationship between the thickness distribution model and atomizer parameters. The proposed parametric model aims to provide a guideline for the determination of spraying parameters in the process of off-line programming in the painting industry. Firstly, a novel feature points fitting distribution model was established based on the characteristics of ESRB uniform linear spraying coating. The model can fully visualize the cumulative profile characteristics of coatings. Secondly, the orthogonal experiment, multilevel and multifactor, was designed to analyze the variation of feature points with the painting parameters. Then, based on the requirements of the spraying process, an objective function is established for the coating thickness and other indicators of each area, and a genetic algorithm is used to solve it, so as to determine the ESRB spraying parameters. Finally, three simulation experiments show that the new model is effective and has high prediction accuracy, which can be effectively applied to the ESRB spraying system.

关键词： ESRB atomizer Automobile spraying Thickness distribution model Coating thickness simulation off-line programming

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A parameterized deposition rate model of electrostatic spraying rotating bell atomizer

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JOURNAL OF COATINGS TECHNOLOGY AND RESEARCH 2023年第3期20卷 1019-1037页

作者： Zhang, Peilun Gao, Weiguo Zhao, Chen Wang, Xuhao Meng, Xiangzhi Tianjin Univ Sch Mech Engn 135 Yaguan Rd Tianjin 300350 Peoples R China Civil Aviat Univ China Aeronaut Engn Coll 2898 Jinbei Rd Tianjin 300300 Peoples R China Automot Engn Corp 91 Changjiang Rd Tianjin 300113 Peoples R China

Compared with spray gun painting, electrostatic spraying rotating bell (ESRB) painting can provide better film-forming quality and higher adhesion rate, which is more suitable for automobile base coating. However, the complexity of the spray pattern of the ESRB and the automobile surface geometric makes the spray process planning a more challenging problem. This paper aims to provide a new parameterized model of the ESRB to facilitate the thickness calculation and trajectory planning in the off-line painting programming. Firstly, according to the distribution characteristics of paint particles and the force analysis of adhesion process, a new static deposition rate model-offset asymmetric Gaussian model is proposed on the plane. The parameters in the new model have intuitive practical significance and can fully reflect the characteristics of ESRB coating deposition rate. Then based on the analysis of the relationship between the static model and uniform linear spraying deposition, the static model is established by measuring the layer data of corresponding uniform linear spraying. In order to further simulate the paint thickness on curved surfaces, the projection model with variable spraying distance and deposition point normal deflection is also deduced. Finally, a parameterized static model and sampling points library are established which provide efficient and accurate prediction of static deposition result, and is more suitable for off-line programming. Three different groups of simulation proved that the proposed static deposition rate model has high calculation accuracy for different working conditions and fast simulation speed for different spraying parameters.

关键词： ESRB atomizers Deposition rate model Surface projection Automobile spraying off-line programming

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off-line programming Techniques for Multirobot Cooperation System

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INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 2013年第7期10卷

作者： Gan, Yahui Dai, Xianzhong Li, Dongwei Southeast Univ Sch Automat Nanjing Jiangsu Peoples R China Minist Educ Key Lab Measurement & Control Complex Syst Engn Nanjing Jiangsu Peoples R China

An off-line programming software designed for multiple robots cooperation system is presented in this paper. At the beginning of the paper, current technologies of robot off-line programming are reviewed and summarized. Then, present status of cooperative functions and cooperative motion instructions defined by predominant robot manufacturers are introduced. Thereafter, principles of robot path planning for cooperative motions are presented. Based on such analysis, software architecture of the off-line programming software designed for general multirobot cooperation system is presented. At last, an off-line programming software with high detailed 3 dimension visualization is achieved. Simulation graphs and snapshots of typical cooperative motions are presented at the end of the paper, which proved the effectiveness of our proposed method.

关键词： off-line programming Multiple Robots Cooperative Motion Instructions Simulation Visualization

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off-line programming and Simulation from CAD Drawings: Robot-Assisted Sheet Metal Bending

Off-line Programming and Simulation from CAD Drawings: Robot...

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39th Annual Conference of the IEEE Industrial-Electronics-Society (IECON)

作者： Neto, Pedro Univ Coimbra Dept Mech Engn CEMUC P-3030788 Coimbra Portugal

ISBN: (纸本)9781479902248

Increasingly, industrial robots are being used in production systems. This is because they are highly flexible machines and economically competitive with human labor. The problem is that they are difficult to program. Thus, manufacturing system designers are looking for more intuitive ways to program robots, especially using the CAD drawings of the production system they developed. This paper presents an industrial application of a novel CAD-based off-line robot programming (OLP) and simulation system in which the CAD package used for cell design is also used for OLP and robot simulation. Thus, OLP becomes more accessible to anyone with basic knowledge of CAD and robotics. The system was tested in a robot-assisted sheet metal bending cell. Experiments allowed identifying the pros and cons of the proposed solution.

关键词： CAD off-line programming simulation robotics sheet metal bending

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An off-line programming system for robotic drilling in aerospace manufacturing

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INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY 2013年第9-12期68卷 2535-2545页

作者： Zhu, Weidong Qu, Weiwei Cao, Lianghong Yang, Di Ke, Yinglin Zhejiang Univ Dept Mech Engn Hangzhou 310027 Peoples R China

off-line programming systems are essential tools for the effective use of robots in the manufacturing environment. This paper presents a dedicated off-line programming system for robotic drilling in aerospace manufacturing. Following a brief introduction of the system architecture, the paper discusses two major problems of off-line programming for robotic drilling, i.e., redundancy resolution and position correction. A new performance index is proposed for the combined requirements of singularity and joint-limit avoidance, followed by a discussion of the redundancy resolution scheme by using numerical optimization at the joint displacement level. A position correction method using measurement data of reference holes is developed for the enhancement of robotic drilling accuracy. Robot programs generated by using the developed system have been tested on a robotic drilling system, and the experimental results are provided.

关键词： off-line programming Robotic drilling Redundancy resolution Singularity avoidance Joint-limit avoidance Position correction

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Automatic calibration of work coordinates for robotic wire and arc additive re-manufacturing with a single camera

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INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY 2021年第9-10期114卷 2577-2589页

作者： Wu, Qiang Qin, Xunpeng Li, Yifeng Liang, Congming Hu, Zeqi Wuhan Univ Technol Sch Automot Engn Wuhan 430070 Peoples R China Hubei Key Lab Adv Technol Automot Components Wuhan 430070 Peoples R China Hubei Shenli Forging Co LTD Danjiangkou 442700 Peoples R China

Industrial robots are increasingly applied in the automatic die repair welding via the prevalent wire and arc additive manufacturing (WAAM) technology. However, the precise calibration of work coordinates is indispensable for the off-line programming of robotic welding paths, which often results in positioning error, path deviation, or even tool collisions. The die is pre-heated at about 500 degrees C before the robotic WAAM processes. Thus, it is challenging to calibrate work coordinates by touch sensing because those points on the X-axis and the Y-axis to determine the location of the part need to be caught by human eyes. In this paper, a camera vision calibration (CVC) method based on stereo vision is developed. Image feature points are extracted by a multi-saliency fusion algorithm based on the human visual attention mechanism. Through stereo vision, 3D information of the feature points is obtained, and the workpiece coordinate system (WCS) is finely calibrated. Compared with the random error of human vision calibration (HVC), the proposed method could improve the workpiece's calibration accuracy, reduce the unexpected collisions in limited space, and improve the dimensional precision of the welding layer.

关键词： Robotic work coordinates calibration off-line programming Camera vision calibration Image analysis Die repairing welding

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off-line programming and Simulation from CAD Drawings: Robot-Assisted Sheet Metal Bending

Off-line Programming and Simulation from CAD Drawings: Robot...

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Annual Conference of the IEEE Industrial Electronics Society

作者： Pedro Neto Department of Mechanical Engineering CEMUC University of Coimbra

ISBN: (纸本)9781479902255

关键词： CAD off-line programming Simulation Robotics Sheet metal bending Computer-Aided Design robotics Metal bending simulating overload protection online programming Production systems Sheet metal DFFB gene off line Robot cell design

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