Search results for "Industrial robot"
showing 5 items of 35 documents
Incremental forming using KUKA KR210-2 industrial robot - research regarding design rules and process modelling
2021
Incremental sheet forming (ISF) process show a great potential in the manufacturing of small series production or prototype development parts. One of the sheet metal forming process, where the contact between punch and metal sheet is in a single point, is known as single point incremental forming (SPIF). The part is manufacture with a simple tool, known as punch, that performs a series of combined movements on the vertically and horizontally directions. The paper introduces a study regarding the design rules and process modelling of this unconventional process, by means of a KUKA KR210-2 industrial robot as technological equipment able to control the correlated movement of the punch. Supple…
Robotic face milling path correction and vibration reduction
2015
In this paper the developed method for off-line compensation of tool deflections and vibration reduction when milling aluminum with an industrial robot is presented. The efficiency of this approach is verified with high precision measurements of deflections using a laser tracker. The compensation method is based on the static milling process model which can predict the mean value components of the tool forces and the passive damping system mounted on the spindle to reduce vibrations. With a process model such as the one presented in this paper and estimates of the robot's joint stiffness values, the tool path can be adjusted to counteract deflections of the tool during milling operations. T…
Mimicking human autonomy in industrial robotic enabled sensing
2022
Humans have an immediate perception of shapes and surroundings through their senses and their cognitive capabilities. This innate ability enables the manual inspection of components in manufacturing environments. Trained inspectors combine their senses and handling skills with bespoke non-destructive testing instrumentation. However, manual inspections can be slow for large and/or complex geometries and prone to human factors. Automated non-destructive testing systems have emerged in recent years, to increase data acquisition speed, part coverage and inspection reliability. These tools work well when the robotic inspection takes place in a well-structured environment and an accurate part mo…
Selecting industrial robots for milling applications using AHP
2017
Abstract Industrial robots are usually used for pick-and-place applications, which require only point-to-point motion control. However, the recent developments, both in robot technology and in Computer Automated Machining (CAM) software, allow the use of these equipment in applications which require continuous path control, such as multi-axis milling processes. However, the producers do not offer robots specifically developed for this kind of application, thus the user has to choose the most appropriate robot for this goal from a wide range of general purpose robot types. This research work proposes a method based upon Analytic Hierarchy Process (AHP) for selecting the industrial robot for …
D Sensor-Based Obstacle Detection Comparing Octrees and Point clouds Using CUDA
2012
This paper presents adaptable methods for achieving fast collision detection using the GPU and Nvidia CUDA together with Octrees. Earlier related work have focused on serial methods, while this paper presents a parallel solution which shows that there is a great increase in time if the number of operations is large. Two dierent models of the environment and the industrial robot are presented, the rst is Octrees at dierent resolutions, the second is a point cloud representation. The relative merits of the two dierent world model representations are shown. In particular, the experimental results show the potential of adapting the resolution of the robot and environment models to the task at h…