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Robotics and Computer-integrated Manufacturing
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4.39
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2362
Papers 2571
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#1Hao Ye (THU: Tsinghua University)
#2Dong Wang (THU: Tsinghua University)H-Index: 4
Last. Yulin Zhou (Yanshan University)
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Abstract Hybrid robots consist of both serial and parallel mechanisms, which have advantages in stiffness and workspace compared with serial/parallel robots when machining composite material. However, the forward and inverse kinematics of hybrid robots generally do not have analytic solutions. This paper deals with the analytic forward and inverse kinematics solutions of a 5-degree-of-freedom (DOF) hybrid robot which consists with a 3-DOF 2UPU/SP parallel mechanism (PM) and a 2-DOF rotating head...
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#1Changhong Liu (GU: Guangzhou University)
#2Jianxiang Cheng (GU: Guangzhou University)
Last. Ray Y. Zhong (HKU: University of Hong Kong)H-Index: 19
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Abstract Grippers are widely used in Industrial Internet for facilitating various operations such as logistics, materials handling, assembly, etc. Current grippers are specifically designed for a specific application so that it is difficult to adapt to a wide variety of shapes and sizes. Soft grippers have been developed to grasp objects with high surface complexity in Industrial Internet. Some challenges such as low controllability and long response time still exist. Rigid robot gripper shows g...
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Abstract As one of the most prevailing retail channels, E-commerce has nowadays facilitated retailers to sell goods to customers worldwide and tremendously increased the supply chain efficiency by removing most intermediate links. The broaden business scope and accelerated goods circulation, nevertheless, have generally led to capital shortages for retailers, especially small and medium enterprises (SMEs). Given the SMEs’ difficulty in acquiring capital from financial institutions such as banks,...
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#1Rui Wang (HIT: Harbin Institute of Technology)
#2Anwen Wu (HIT: Harbin Institute of Technology)
Last. Jun Wang (HIT: Harbin Institute of Technology)
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Abstract This paper proposes a 6R robot closed-loop kinematic calibration method to improve absolute position accuracy with point and distance constraints though machine vision. In the calibration process, a camera attached to the mounting plate of the robot is used to capture a fixed reference sphere as a point constraint and to record robot joint angles and gauge block lengths that are used as a distance constraint. A first-order difference quotient is used to calculate the Jacobian matrix in ...
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Abstract As a typical manufacturing equipment, CNC machine tool (CNCMT) is the mother machine of industry. Fault of CNCMT might cause the loss of precision and affect the production if troubleshooting is not timely. Therefore, the reliability of CNCMT has a big significance. Predictive maintenance is an effective method to avoid faults and casualties. Due to less consideration of the status variety and consistency of CNCMT in its life cycle, current methods cannot achieve accurate, timely and in...
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Abstract Industry 4.0 describes a smart job shop as follows: it can meet individual customer requirements even if the requirements are changed at the last minute; its production control system (PCS) can rapidly respond to unexpected disruptions in production, and smart workpieces in the smart job shop can communicate with workstations to tell them what to do next. Present PCSs issue production instruction (PI) to workstation in a relatively long period such as a day, a week, even a month. And th...
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#1E. Ferreras-Higuero (UPM: Technical University of Madrid)
#2E. Leal-Muñoz (UFRO: University of La Frontera)
Last. Antonio Vizán Idoipe (UPM: Technical University of Madrid)H-Index: 11
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Abstract Industrial robots are traditionally used at machining cells for machine feeding and workpiece handling. A reassignment of tasks to improve the productivity requires a modelling of the robot behaviour from the point of view of its position precision. This paper characterizes and predicts the precision achievable when drilling with an industrial robot in order to use it in machining operations. Robot behaviour and drilling phenomena are analysed to determine working accuracy and their con...
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#1Yingfeng ZhangH-Index: 23
#1Yingfeng Zhang (SU: Southern University and A&M College)H-Index: 2
Last. Cheng QianH-Index: 1
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Abstract Due to the rapid development of social economy and diverse market demands, higher requirements are put forward for the existing manufacturing environment, such as the self-organizing aggregation of manufacturing resources, the business collaboration among enterprises, the process control of all stages in the product lifecycle, and the servitization of manufacturing resources. Despite the current research efforts, some questions remain open, including the active interaction among resourc...
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#1Lei Lu (Hefei University of Technology)
#2Jiong Zhang (NUS: National University of Singapore)H-Index: 1
Last. Hao Wang (NUS: National University of Singapore)H-Index: 1
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Abstract A time-optimal motion planning method for robotic machining of sculptured surfaces is reported in this paper. Compared with the general time-optimal robot motion planning, a surface machining process provides extra constraints such as tool-tip kinematic limits and complexity of the curved tool path that also need to be taken into account. In the proposed method, joint space and tool-tip kinematic constraints are considered. As there are high requirements for tool path following accuracy...
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#1Fubao Xie (HKUST: Hong Kong University of Science and Technology)
#2Lufeng Chen (University of Electronic Science and Technology of China)H-Index: 4
Last. Kai Tang (HKUST: Hong Kong University of Science and Technology)H-Index: 20
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Abstract Robotic curved layer additive manufacturing (a.k.a. multi-axis 3D printing) has been gaining attention recently owing to its simplicity and unique ability of printing complex shapes without using a support structure. However, as the printing path now is no long planar and the nozzle orientation is no longer fixed but changes continuously during printing, even though it could be smooth when defined in the workpiece coordinate system in both position and orientation of the nozzle, due to ...
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