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International Conference on BioMedical Engineering and Informatics (BMEI)

作者： Haiguang Zhang Qingxi Hu Yuan Yao Yuanyuan Liu Rapid Manufacturing Engineering Center Shanghai Key Laboratory of Mechanical Automation and Robotics Shanghai University Shanghai China College of Mechanical Engineering Inner Mongolia University of Technology Hohhot China

The localized management of sinus floor (LMSF) is one of key technologies in dental implant surgery, but the lining mucosa of maxillary sinus is easily impaled during LMSF surgery. This paper proposed a computer aided design method to construct 3-D finite element model of LMSF. Then the models are processed for analysis. Finally, the virtual surgery simulation was carried out from three aspects which include distance between the apex of bone condenser friadent and the maxillary sinus floor, the shape of maxillary sinus floor and the position of bone condenser friadent. The obtained conclusions can give dentists some directions to carry out clinical LMSF operations. Thus the surgical process can be better planned by dentists, so the success rate of operation also can be improved. In summary, the virtual LMSF surgery simulation has positive significance for both dentists and patients and this method can be applied in various kinds of surgeries to help clinical doctors plan the process of operations.

关键词： Finite element methods Surgery Floors Dentistry Computational modeling Bones technology management Implants Design methodology Shape

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Objective metric study for DOE-based parameter optimization in robotic torque converter assembly

Objective metric study for DOE-based parameter optimization ...

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2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Dave Gravel George Zhang Arnold Bell Biao Zhang Advanced Manufacturing Technology Development Ford Motor Company Limited Livonia MI USA ABB Corporate Research Center Windsor USA ABB Robotics AB Auburn Hills MI USA

This paper presents the objective metric study on design of experiments (DOE)-based robotic force control parameter optimization in transmission torque converter assembly. Based on a real-world assembly production process, investigation and analysis are performed on the optimization metrics of assembly cycle time mean (MEAN), its mean plus three times of standard deviation (MEAN+3*STDEV), and first time through (FTT) rate. Simulations have been conducted to illustrate and explain the findings in the parameter optimization practice. Practical metric criteria have been proposed and discussed. An on-pendant robotic assembly parameter optimization tool with the objective metric concept is introduced. And automatic parameter optimization or online robot learning feature is also mentioned in terms of the objective metrics for the particular robot assembly parameter optimization tasks. Finally conclusions are drawn and discussion and further investigation is proposed.

关键词： Robotic assembly Torque converters Force control Robot sensing systems Service robots robotics and automation Force sensors Industrial control Intelligent robots Assembly systems

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Automated learning for parameter optimization of robotic assembly tasks utilizing genetic algorithms

Automated learning for parameter optimization of robotic ass...

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IEEE International Conference on robotics and Biomimetics

作者： Jeremy A. Marvel Wyatt S. Newman Dave P. Gravel George Zhang Jianjun Wang Tom Fuhlbrigge Electrical Engineering and Computer Science Department Case Western Reserve University Cleveland OH USA Ford Advanced Manufacturing Technology Development Center Detroit MI USA Mechatronics and Robotic Automation ABB Corporate Research Center Windsor CT USA

A challenge for automating mechanical assembly is that cumulative uncertainties typically exceed part clearances, which makes conventional position-based tactics unsuccessful. Force-based assembly strategies offer a potential solution, although such methods are still poorly understood and can be difficult to program. In this paper, we describe a force-based robotic assembly approach that uses fixed strategies with tunable parameters. A generic assembly strategy suitable for execution on an industrial robot is selected by the programmer. Parameters are then self-tuned empirically by the robot using a genetic-algorithm learning process that seeks to minimize assembly time subject to contact-force limits. Results are presented for two automotive part assembly examples using ABB robots with commercial force-control software, showing that the approach is highly effective and suitable for industrial use.

关键词： Robotic assembly Genetic algorithms robotics and automation Service robots Force control Orbital robotics Industrial control Robot control Automatic control manufacturing automation

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Impact of surface roughness of diamond coatings on the cutting performance when dry machining of graphite

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International Journal of manufacturing technology and Management 2008年第2期15卷 121-152页

作者： Cabral, Gil Reis, P. Titus, E. Madaleno, J.C. Davim, J.P. Grácio, J. Ahmed, Waqar Jackson, Mark J. Department of Mechanical Engineering Centre for Mechanical Technology and Automation University of Aveiro Aveiro Portugal School of Computing Technology and Physical Sciences University of Central Lancashire Preston PR1 4HE United Kingdom College of Technology Centre for Advanced Manufacturing Purdue University West Lafayette IN 47907-2021 United States Department of Nanotechnology University of Ulster Department of Mechanical Engineering College of Technology Purdue University Center for Advanced Manufacturing Birck Nanotechnology Center

Time Modulated Chemical Vapour Deposition. (TMCVD) process regime has been used to deposit diamond coatings onto commercially available tungsten carbide tool inserts. The TMCVD process was developed in our laboratories so that diamond films with fine grains could be deposited. It accomplishes this by promoting secondary nucleation during larger methane flow modulations. The average surface roughness of the diamond coatings were correlated with the cutting performance of the coatings when dry machining of graphite. Inserts coated were characterised by Scanning Electron Microscopy (SEM) and Raman spectroscopy and were tested for turning performance using graphite as the workpiece material. The cutting forces were measured by the DynoWare data acquisition system. Polycrystalline Diamond (PCD) inserts were also used for comparison. Repeated turning tests showed that the surface roughness of the coatings is a limiting factor when achieving better chip flow during machining. Copyright © 2008 Inderscience Enterprises Ltd.

关键词： Graphite

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Development of embedded robot controller for shipbuilding

Development of embedded robot controller for shipbuilding

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17th World Congress, International Federation of Automatic Control, IFAC

作者： Kim, Won-Bae Lee, Young Seok Lee, Kyoung Don Lee, Seung Ho Kim, Soo Ho Center for Robot Technology and Manufacturing Institute for Advanced Engineering Yongin Kyunggi-do Korea Republic of Automation R and D Institute DAEWOO Shipbuilding and Marine Engineering Ltd. Okpo Kyungsangnam-do Korea Republic of

ISBN: (纸本)9783902661005

This paper describes a development of a small and high-performance embedded controller system in order to apply it to a robot system for improving productivity in shipbuilding. The development of such an embedded controller was performed as a coherent design and development through applying a digital signal processor. The product developed in this study consists of a CPU board including vision functions, motion and driver boards for servo motor controls, and input/out and power board. Also, various communication protocols were implemented in the development process by considering their expansibility and flexibility. In addition, a robot controller system was developed to communicate external robot operation systems as a manner of wired and wireless communication. Furthermore, this study performed functional and environmental tests to verify the stable operation of such a robot controller under internal or external poor working conditions. Copyright © 2007 International Federation of Automatic Control All Rights Reserved.

关键词： Signal processing

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Inspection technology for F-theta lens: Practices and discussions

Inspection technology for F-theta lens: Practices and discus...

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作者： Li, Hua To, Suet Kong, Ling Bao Cheung, Chi-Fai Lee, Wing Bun Advanced Optics Manufacturing Center Department of Industrial and Systems Engineering Hong Kong Polytechnic University Hung Horn Kowloon Hong Kong School of Electrical Engineering and Automation Harbin Institute of Technology Harbin China

This paper presents the inspection technology for a freeform surface component which is named F-theta lens. F-theta lens is widely used in laser scanners, printers, etc. Freeform characterization is one of the main approaches to verify the manufacturing precision of freeform surface. At present, there is still a lack of techniques for the characterization of freeform surfaces. This study aimed to explore some approaches to inspect freeform surfaces. Two types of measurement methods, namely contact and non-contact measurement methods, are employed to measure the F-theta lens surface. The pros and cons, the existing problems, different applications and areas for improvement of the two methods are discussed. A series of advanced measuring instruments are used in the measurement process. A brief description of measurement mechanisms of these instruments is also presented. As a whole, this paper contributes to the development of the precision measurement technology for optical freeform surfaces.

关键词： Lenses

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Novel error separation method for straightness measurement

Novel error separation method for straightness measurement

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作者： Yin, Zi-Qiang To, Suet Kong, Lingbao Laboratory of Precision Engineering College of Mechatronics Engineering and Automation National University of Defense Technology Changsha 410073 China Advanced Optics Manufacturing Center Department of Industrial and Systems Engineering Hong Kong Polytechnic University Hong Kong Hong Kong

A novel time-domain error separation method which can reconstruct straightness profile of workpiece exactly for on-machine measurement has successfully been developed. The proposed method is based on difference measurement and can use two or three displacement probes. It possesses following characteristics: (i) adapting to long or short workpiece, (ii) assuming no prior knowledge, (iii) employing large shears, (iv) needing no accurate zero-adjustment of probes, and (v) reconstructing various surfaces including smooth, non-smooth, periodic and non-periodic profiles with no theoretical error. The shortest length which can be reconstructed exactly has been calculated in time-domain method. The theoretical analysis justifies the effectiveness of this method.

关键词： Time domain analysis

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Development of Embedded Robot Controller for Shipbuilding

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IFAC Proceedings Volumes 2008年第2期41卷 5279-5284页

作者： Won-Bae Kim Young Seok Lee Kyoung Don Lee Seung Ho Lee Soo Ho Kim Center for Robot Technology & Manufacturing Institute for Advanced Engineering Yongin Kyunggi-do Korea Automation R&D Institute DAEWOO Shipbuilding & Marine Engineering Ltd.) Okpo Kyungsangnam-do Korea

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Toward robotizing powertrain assembly

Toward robotizing powertrain assembly

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World Congress on Intelligent Control and automation (WCICA)

作者： Dave Gravel Frank Maslar George Zhang Srini Nidamarthi Heping Chen Tom Fuhlbrigge Advanced Manufacturing Technology Development Ford Motor Company Limited Livonia USA Corporate Research Center USA Flexible Automation ABB Inc. Windsor CT USA

This paper presents the recent progress of using robotics in automotive powertain assembly manufacturing processes. After briefly describing force control and vision-guided robot (VGR), we introduce successful implementation of robotic assembly for transmission torque converters, VGR-based engine head assembly, transmission valve body assembly and engine piston installation. Then we discuss other robotic assembly related technologies such as visual servoing and assembly parameter optimization and followed by discussing assembly production line evolution such as the merging of automated-guided vehicle (AGV). The successful model of collaborative development between Ford advanced manufacturing technology Development (AMTD) and ABB robotics is also mentioned and reviewed.

关键词： Robots Assembly Robot kinematics Force control Service robots Robot sensing systems Torque converters

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Analysis on influence of manufacturing error for output accuracy of hybrid five-bar mechanism

Analysis on influence of manufacturing error for output accu...

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International Conference on Control, automation, robotics and Vision (ICARCV)

作者： Ke Zhang Hui Zhang Baoan Zhang Jianbin Qiu School(ÇÇâof Mechanism and Automation Engineering Shanghai Institute of Technology Shanghai China Market Department Suzhou Mingzhi Foundry Equipment Company Limited Suzhou China Department of Manufacturing Engineering and Engineering Management Dushu Lake Higher Education Town Suzhou Industrial Park University of Science and Technology of China & City University of Hong Kong Joint Advanced Research Center China

A hybrid mechanism is a configuration that combines the motions of two characteristically different electric motors by means of a mechanism to produce programmable output. In this paper, by means of establishing mathematic model for the influence of output accuracy of a planar hybrid five-bar mechanism affected by manufacturing error of link length, the sensitive coefficient of manufacturing error of link-length was determined and the law of influence on output accuracy of hybrid mechanism affected by manufacturing error of link length was analyzed. Living example of design shows that reasonable designed manufacturing tolerance of link length of hybrid five-bar mechanism could make the mechanism not only satisfy the requirement of accuracy but also achieve lower manufacturing cost.

关键词： manufacturing industries Pulp manufacturing Virtual manufacturing manufacturing automation robotics and automation Electric motors Costs Error analysis Actuators Servomotors

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