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Automatic robot taping system with compliant force control
Foshan Univ, Sch Electromech Engn, Foshan, Peoples R China..
Nanyang Technol Univ, Sch Mech & Aerosp Engn, Singapore, Singapore..
Singapore Univ Technol & Design, Engn Prod Dev, Singapore, Singapore..
KTH, School of Industrial Engineering and Management (ITM).
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2018 (English)In: The International Journal of Advanced Manufacturing Technology, ISSN 0268-3768, E-ISSN 1433-3015, Vol. 94, no 9-12, p. 4105-4113Article in journal (Refereed) Published
Abstract [en]

In surface treatment processes like plasma spraying and spray painting of workpieces, protecting the uninvolved surface by applying masking tape is a common process. Due to the operation complexity for different geometries, such taping tasks depend on a lot of manual works, which is tedious and tiring. This paper introduces an automatic agile robotic system and the corresponding algorithm to do the surface taping. The automatic taping system consists of a 3D scanner for workpiece 3D model reconstruction, a taping end-effector which is mounted on a robot manipulator to handle the taping task, and a rotating platform that is used to hold the workpiece. The surface covering method and the taping path planning algorithms using the scanned model are introduced. With the implementation of the compliance mechanism, the force feedback and the tape-cutting mechanism, the system is able to tape flat, cylindrical, freeform, and grooved surfaces. Experiments conducted on taping an engine inner liner shows that the surface can be covered with uniform taping overlap and very little wrinkle. The proposed system is a useful taping package for industrial applications such as workpiece repairing and surface protection, where surface treatments are involved.

Place, publisher, year, edition, pages
SPRINGER LONDON LTD , 2018. Vol. 94, no 9-12, p. 4105-4113
Keywords [en]
Robot taping, Industrial robotics, Robot end-effector design, Robot path planning
National Category
Manufacturing, Surface and Joining Technology
Identifiers
URN: urn:nbn:se:kth:diva-225322DOI: 10.1007/s00170-017-1082-7ISI: 000425592900084Scopus ID: 2-s2.0-85030164398OAI: oai:DiVA.org:kth-225322DiVA, id: diva2:1195158
Conference
12th International Conference on Frontiers of Design and Manufacturing (ICFDM), AUG 10-12, 2016, Natl Nat Sci Fdn China, Shenyang, PEOPLES R CHINA
Note

QC 20180404

Available from: 2018-04-04 Created: 2018-04-04 Last updated: 2018-04-04Bibliographically approved

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