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Drilling task planning and offline programming of a robotic multi-spindle drilling system for aero-engine nacelle acoustic liners

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ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING 2025年 92卷

作者： Kong, Fanqiang Mei, Biao Fu, Yun Yang, Yongtai Zhu, Weidong Zhejiang Univ Sch Mech Engn Hangzhou 310027 Peoples R China Chinese Acad Sci Quanzhou Inst Equipment Mfg Haixi Inst Quanzhou 362200 Peoples R China Xizi Spirit Aerosp Ind Zhejiang Ltd Hangzhou 311222 Peoples R China

Aero-engine nacelle acoustic liners are complex curved surface subassemblies with tens of thousands of dense acoustic holes for noise reduction. Traditional robotic drilling systems with a single spindle and conventional teaching programming cannot meet the high-quality and high-efficiency drilling requirements for nacelle acoustic liners. This paper developed a novel robotic multi-spindle drilling system, which integrates standard industrial robots with a multi-spindle drilling end-effector to drill acoustic holes on an acoustic liner. The task planning strategy and offline programming method are investigated for the robotic multi-spindle drilling of the acoustic liner. A dedicated offline programming software capable of quickly generating robotic machining programs has been designed and developed. A precise acoustic hole arrangement applicable to curved drilling zones is demonstrated. The virtual surrogate hole is introduced to target the array layout of the developed endeffector's multiple spindles. A virtual surrogate hole generation method is proposed based on the minimum mutually exclusive set cover and the greedy algorithm. After that, a virtual surrogate hole layout optimization method is developed using an adaptive genetic annealing algorithm. Then, the frame chain is constructed as the kinematic foundation in robotic multi-spindle drilling of a nacelle acoustic liner. The drilling pose planning of the multi-spindle end-effector based on normal vectors and coordinates of acoustic hole points covered by virtual surrogate holes is explored. And a multi-spindle drilling path planning algorithm is developed using the genetic algorithm. To drill the aero-engine nacelle of a large aircraft, an offline programming software for robotic multispindle drilling of the nacelle acoustic liner is developed by integrating the methods above. A case study of multispindle drilling task planning of a nacelle acoustic liner is carried out. The case study results indicate that,

关键词： Aero-engine nacelle Acoustic liner Robotic multi-spindle drilling Virtual surrogate hole Drilling task planning offline programming

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offline programming Guidance for Swarm Steering of Micro-/Nano Magnetic Particles in a Dynamic Multichannel Vascular Model

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IEEE ROBOTICS AND AUTOMATION LETTERS 2022年第2期7卷 3977-3984页

作者： Park, Myungjin Le, Tuan-Anh Yoon, Jungwon Gwangju Inst Sci & Technol Sch Integrated Technol Gwangju 61005 South Korea Thuyloi Univ Hanoi 116705 Vietnam

Magnetically targeted drug delivery (MTD) systems are used in the treatment of various diseases. However, few studies on the targeting of micro-/nano-sized magnetic particles (MPs) inside multi-bifurcations vessel with fluid flow have appeared. Here, we present a user-interface offline programming guidance (OLPG) scheme that controls MPs within a multi-channel dynamic vascular model. The OLPG scheme can simplify the guidance complexity for MTD and overcome the difficulties in real-time sensing of magnetic nanoparticles (MPs). Calibration between real and virtual environments minimizes OLPG errors due to the aggregation properties of the MPs. A Swarm of Aggregated MPs (SAMPs) can be defined experimentally as the equivalent diameter of a single MP. The joystick position is linearly related to the MP magnetic forces of a real electromagnetic actuator. SAMPs were controlled inside the MTD simulator using the joystick and their control commands can be downloaded to the real controller of the in vitro multi-channel vessel model. We performed both simulations and in vitro studies in the multi-channel vascular model. A user guided MPs to the desired locations in similar to 50% of simulations and similar to 49.5% of in vitro studies, in the absence of visual feedback. Also, a realistic 3D blood vessel model was simulated to evaluate the feasibility of the OLPG scheme. Our system has a potential to guide in vivo drug delivery.

关键词： Fluids Solid modeling In vitro Calibration Magnetic fields Robots Real-time systems Aggregation model interactive manipulation offline programming swarm control targeted drug delivery

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offline programming method and implementation of industrial robot grinding based on VTK

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INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION 2020年第4期47卷 547-557页

作者： Hong, Lei Wang, Baosheng Yang, XiaoLan Wang, Yuguo Lin, Zhong Nanjing Inst Technol Sch Automot & Rail Transit Nanjing Peoples R China Nanjing Inst Technol Ind Technol Res Inst Intelligent Equipment Nanjing Peoples R China Jiangsu Prov Engn Lab Intelligent Mfg Equipment Nanjing Peoples R China Nanjing Inst Technol Sch Mech Engn Nanjing Peoples R China Nanjing Inst Technol Sch Comp Engn Nanjing Peoples R China

Purpose The purpose of this paper is to present a robotic off-line programming method for freeform surface grinding based on visualization toolkit (VTK). Nowadays, manual grinding and traditional robot on-line programming are difficult to ensure the surface grinding accuracy, thus off-line programming is gradually used in grinding, however, several problems are needed to be resolved which include: off-programming environment depends on the third-party CAD software, leads to insufficient self-development flexibility;single support for robot type or workpiece model format contributes to lack of versatility;grinding point data depends on external data calculation and import process, causes human-computer interaction deterioration. Design/methodology/approach In this method, the visualization pipeline and observer/command mode of VTK are used to display the 3D model of the robot grinding system and pick up the workpiece surfaces to be grinded respectively. Two groups of cutter planes with equidistant spacing are created to form the grinding nodes on the surface, and the extraction method for the position and posture of the nodes is proposed. Furthermore, the position and posture of discretized points along the grinding curve are obtained by B-spline curve interpolation and quaternion spherical linear interpolation respectively. Finally, the motion simulation is realized by robot inverse kinematics. Findings Through a watch case grinding experiment, the results show that the proposed method based on VTK can achieving high precision grinding effect, which is obviously better than traditional method. Originality/value The proposed method is universal which does not depend on the specific forms of surface, and all calculations in simulation are completed within the system, avoiding tedious external data calculation and import process. The grinding trajectory can be generated only by the mouse picking operation without relying on the other third-party CAD software.

关键词： offline programming Freeform surface Industrial robot grinding Visualization toolkit (VTK)

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A novel offline programming approach of robot welding for multi-pipe intersection structures based on NSGA-II and measured 3D point-clouds

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ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING 2023年第1期83卷

作者： Liu, Yan Tang, Qiu Tian, Xincheng Yang, Shuai Shandong Univ Sch Control Sci & Engn 17923 Jingshi Rd Jinan 250061 Peoples R China Minist Educ Engn Res Ctr Intelligent Unmanned Syst Jinan 250061 Peoples R China

The multi-pipe intersection structure in form of co-main pipe is widely used in various industries. To improve its welding quality and efficiency, this paper is devoted to proposing an offline programming approach to the robot trajectory based on NSGA-II and measured 3D point-clouds. First, considering the existence of deviation between the actual workpiece and its ideal model, this paper selects the actual 3D point-cloud of weld seam as the research object and extracts its feature points by combining the characteristic of the spatial curve, which can reduce the data density while preserving their geometric characteristics. Second, to ensure the continuity of motion parameters while taking the calculation and fitting accuracy into account, the cubic NURBS is applied to fit the actual weld position, and a fast-adaptive fitting nodes configuration scheme is designed according to the variation characteristics of the spatial curve and the fitting error restriction. Third, this paper introduces a trajectory adaptive discretization method based on the chord error constraint for robot program generation, and establishes an optimization model of the robot welding trajectory based on NSGA-II frame, which gives the robot joint's motion trajectories with optimal welding quality and cable twisting fluctuation. Finally, the experiments are designed to verify the correctness of the aforementioned approach.

关键词： 3D point-cloud Multi-pipe intersection welding Trajectory optimization offline programming

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Hybrid offline programming method for robotic welding systems

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ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING 2022年 73卷 102238-102238页

作者： Zheng, Chen An, Yushu Wang, Zhanxi Wu, Haoyu Qin, Xiansheng Eynard, Benoit Zhang, Yicha Northwestern Polytech Univ Sch Mech Engn 127 West Youyi Rd Xian 710072 Shaanxi Peoples R China Univ Technol Compiegne Sorbonne Univ Dept Mech Syst Engn Roberval LabUMR CNRS 7337 CS 60319 F-60203 Compiegne France Univ Technol Belfort Montbeliard Univ Bourgogne Franche Comte Mech Engn & Design Dept ICB UMR CNRS 6303 F-90010 Belfort France

offline programming is an intuitive and automatic programming generation technique that does not use real robotic systems, thus greatly decreasing the downtime required for system programming, and resulting in enormous savings in terms of labor costs. Currently, offline programming can be generally categorized into computer-aided-design-based (CAD-based) and vision-based approaches;these two types of offline programming approaches have been widely applied in robotic welding systems. However, owing to the highly complex and diverse workpieces needed in the shipbuilding industry, neither of the aforementioned offline programming approaches can fully support the automatic generation of welding programs. In this paper, a hybrid offline programming method systematically combining CAD-based, vision-based, and vision & CAD interactive activities is proposed to overcome the limitations of current automatic program generation methods for robotic welding systems. In the vision-based activities, the positions of the workpieces are obtained by using geometrical features gathered from the workpieces' images, whereas in the CAD-based activities, the welding tasks are assigned to different mobile components of the welding torch;then, their welding paths are planned according to the workpieces' CAD models. The vision & CAD interactive activities enable the mapping between the point cloud of a workpiece and its CAD model, so that the deviations caused by assembly errors can be detected and path compensation data can be determined. The effectiveness of the proposed hybrid offline programming method is demonstrated by integrating it into a subassembly welding robotic system. The experimental results indicate that this method can significantly improve the efficiency, accuracy, and flexibility of the robotic welding system.

关键词： offline programming Geometrical feature Robotic welding systems CAD-based programming Vision-based programming

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AdaptPack studio translator: translating offline programming to real palletizing robots

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INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION 2020年第5期47卷 713-721页

作者： Carvalho de Souza, Joao Pedro Castro, Andre Luiz Rocha, Luis F. Silva, Manuel F. Fac Engn Univ Porto FEUP Porto Portugal INESC TEC Porto Portugal ISEP Inst Super Engn Porto Dept Engn Electrotecn Porto Portugal

Purpose This paper aims to propose a translation library capable of generating robots proprietary code after their offline programming has been performed in a software application, named AdaptPack Studio, running over a robot simulation and offline programming software package. Design/methodology/approach The translation library, named AdaptPack Studio Translator, is capable to generate proprietary code for the Asea Brown Boveri, FANUC, Keller und Knappich Augsburg and Yaskawa Motoman robot brands, after their offline programming has been performed in the AdaptPack Studio application. Findings Simulation and real tests were performed showing an improvement in the creation, operation, modularity and flexibility of new robotic palletizing systems. In particular, it was verified that the time needed to perform these tasks significantly decreased. Practical implications The design and setup of robotics palletizing systems are facilitated by an intuitive offline programming system and by a simple export command to the real robot, independent of its brand. In this way, industrial solutions can be developed faster, in this way, making companies more competitive. Originality/value The effort to build a robotic palletizing system is reduced by an intuitive offline programming system (AdaptPack Studio) and the capability to export command to the real robot using the AdaptPack Studio Translator. As a result, companies have an increase in competitiveness with a fast design framework. Furthermore, and to the best of the author's knowledge, there is also no scientific publication formalizing and describing how to build the translators for industrial robot simulation and offline programming software packages, being this a pioneer publication in this area.

关键词： Palletizing offline programming Simulation Industry 4 0 Industrial application Robot language translator

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Operation of a haptic interface for offline programming of welding robots by applying a spring-damper model

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INTERNATIONAL JOURNAL OF COMPUTER INTEGRATED MANUFACTURING 2019年第11期32卷 1098-1116页

作者： Sanchez-Diaz, Angel Zaldivar-Colado, Ulises Alfonso Pamanes-Garcia, J. Zaldivar-Colado, Xiomara Autonomous Univ Sinaloa Fac Comp Culiacan 80013 Sinaloa Mexico Autonomous Univ Sinaloa Fac Comp Mazatlan Mexico Natl Technol Inst Mexico La Laguna Inst Technol Torreon Mexico

This paper studies a system of a virtual welding torch employed during the teaching process of welding tasks for offline programming of robotic manipulators. The torch is manipulated by the user in a virtual environment applying a haptic interface. An approach based on a spring-damper model is proposed to compute the force to be felt by the user during the manipulation of the interface. The force is such that more realistic sensations are perceived by the hand's user if a collision occurs of the torch in the virtual environment. A suitable strategy is employed to represent the virtual torch by two coupled models with spring-damper systems (SDS). Such models are termed kinematic virtual torch (KVT) and dynamic virtual torch (DVT). Thus, in the studied system, the DVT follows the geometric coordinates of the KVT during a manipulation of the torch avoiding penetration of other objects in the scene. Careful analyses are accomplished on manipulation tasks using different SDS configurations in a case study in order to show the efficacy of the proposed approach. As a result, a desired welding task is properly programmed for a robot in an easy and accurate way.

关键词： Robotic welding path planning haptics offline programming virtual reality dynamic behaviour

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AdaptPack Studio: an automated intelligent framework for offline factory programming

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INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION 2020年第5期47卷 697-704页

作者： Castro, Andre Luiz Carvalho de Souza, Joao Pedro Rocha, Luis F. Silva, Manuel F. Univ Fed Paraiba INESC TEC Joao Pessoa Paraiba Brazil Univ Fed Paraiba Dept Comp Syst Joao Pessoa Paraiba Brazil INESC TEC Porto Portugal Univ Porto Porto Portugal ISEP Inst Super Engn Porto INESC TEC Porto Portugal ISEP Inst Super Engn Porto Dept Engn Electrotecn Porto Portugal

Purpose This paper aims to propose an automated framework for agile development and simulation of robotic palletizing cells. An automatic offline programming tool, for a variety of robot brands, is also introduced. Design/methodology/approach This framework, named AdaptPack Studio, offers a custom-built library to assemble virtual models of palletizing cells, quick connect these models by drag and drop, and perform offline programming of robots and factory equipment in short steps. Findings Simulation and real tests performed showed an improvement in the design, development and operation of robotic palletizing systems. The AdaptPack Studio software was tested and evaluated in a pure simulation case and in a real-world scenario. Results have shown to be concise and accurate, with minor model displacement inaccuracies because of differences between the virtual and real models. Research limitations/implications An intuitive drag and drop layout modeling accelerates the design and setup of robotic palletizing cells and automatic offline generation of robot programs. Furthermore, A* based algorithms generate collision-free trajectories, discretized both in the robot joints space and in the Cartesian space. As a consequence, industrial solutions are available for production in record time, increasing the competitiveness of companies using this tool. Originality/value The AdaptPack Studio framework includes, on a single package, the possibility to program, simulate and generate the robot code for four different brands of robots. Furthermore, the application is tailored for palletizing applications and specifically includes the components (Building Blocks) of a particular company, which allows a very fast development of new solutions. Furthermore, with the inclusion of the Trajectory Planner, it is possible to automatically develop robot trajectories without collisions.

关键词： offline programming Path planning Robot simulation Robotic cells

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Development of a PTP Movement of a Industrial Robot via MATLAB by deriving its Kinematics and Integration in an offline programming Tool 19

Development of a PTP Movement of a Industrial Robot via MATL...

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19th International Conference on Research and Education in Mechatronics (REM)

作者： Enien, Karim Wruetz, Tim Biesenbach, Rolf Bochum Univ Appl Sci Fac Elect Engn & Comp Sci Bochum Germany

ISBN: (纸本)9781538654132

This paper explains the development, testing and implementation of a remote control PTP movement for the KUKA KR C4 controller using MATLAB RoBO-2L toolbox. The toolbox is an implementation of a MATLAB interface for a cross-platform offline programming by utilizing the Ethernet UDP/IP communication protocol. Following an engineering approach to solve the PTP (point to point) movement, the forward kinematics has been implemented using the D-H notation. Besides the inverse kinematics has been derived by means of the kinematic decoupling method. A prototype model for the robot was designed using the mechanical design software Solidworks in order to simulate the actual robot. The model was later then imported into the general-purpose robot simulator V-REP. By this means, the calculation was verified before applying it to the real robot. Furthermore, a GUI has been implemented to simplify dealing with the MATLAB toolbox. This GUI shows the current axis and cartesian position of the robot;in addition, it enables the user to enter the desired cartesian position. The field tests for the application of the PTP movement have shown a great reliability among different kind of arbitrary positions and orientations. The work then was applied on the KUKA KR C4 controller, using a KR 6 R900 sixx as real industrial robot.

关键词： RoBO-2L-Toolbox offline programming Industry 4.0 PTP-remote-programming KUKA MATLAB Industrial Robots

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AdaptPack Studio: Automatic offline Robot programming Framework for Factory Environments 19

AdaptPack Studio: Automatic Offline Robot Programming Framew...

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19th IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)

作者： Castro, Andre Souza, Joao Pedro Rocha, Luis Silva, Manuel F. INESC TEC Porto Portugal ISEP IPP Porto Portugal

ISBN: (纸本)9781728135588

The brisk and dynamic environment that factories are facing, both as an internal and an external level, requires a collection of handy tools to solve emerging issues in the industry 4.0 context. Part of the common challenges that appear are related to the increasing demand for high adaptability in the organizations' production lines. Mechanical processes are becoming faster and more adjustable to the production diversity in the Fast Moving Consumer Goods (FMCG). Concerning the previous characteristics, future factories can only remain competitive and profitable if they have the ability to quickly adapt all their production resources in response to inconstant market demands. Having previous concerns in focus, this paper presents a fast and adaptative framework for automated cells modeling, simulation and offline robot programming, focused on palletizing operations. Established as an add-on for the Visual Components (VC) 3D manufacturing simulation software, the proposed application allows performing fast layout modeling and automatic offline generation of robot programs. Furthermore, A* based algorithms are used for generating collision-free trajectories, discretized both in the robot joints space and in the Cartesian space. The software evaluation was tested inside the VC simulation world and in the real-world scenario. Results have shown to be concise and accurate, with minor displacement inaccuracies due to differences between the virtual model and the real world.

关键词： Industry 4.0 offline programming Factory layout modeling Product palletizing

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