Automatic generation of robot and manual assembly plans using octrees

This paper aims to investigate automatic assembly planning for robot and manual assembly. The octree decomposition technique is applied to approximate CAD models with an octree representation which are then used to generate robot and manual assembly plans. An assembly planning system able to generate assembly plans was developed to build these prototype models. Octree decomposition is an effective assembly planning tool. Assembly plans can automatically be generated for robot and manual assembly using octree models. Research limitations/implications - One disadvantage of the octree decomposition technique is that it approximates a part model with cubes instead of using the actual model. This limits its use and applications when complex assemblies must be planned, but in the context of prototyping can allow a rough component to be formed which can later be finished by hand. Assembly plans can be generated using octree decomposition, however, new algorithms must be developed to overcome its limitations

Workshop on "Robotic assembly of 3D MEMS".

Proceedings of a workshop proposed in IEEE IROS'2007.The increase of MEMS' functionalities often requires the integration of various technologies used for mechanical, optical and electronic subsystems in order to achieve a unique system. These different technologies have usually process incompatibilities and the whole microsystem can not be obtained monolithically and then requires microassembly steps. Microassembly of MEMS based on micrometric components is one of the most promising approaches to achieve high-performance MEMS. Moreover, microassembly also permits to develop suitable MEMS packaging as well as 3D components although microfabrication technologies are usually able to create 2D and "2.5D" components. The study of microassembly methods is consequently a high stake for MEMS technologies growth. Two approaches are currently developped for microassembly: self-assembly and robotic microassembly. In the first one, the assembly is highly parallel but the efficiency and the flexibility still stay low. The robotic approach has the potential to reach precise and reliable assembly with high flexibility. The proposed workshop focuses on this second approach and will take a bearing of the corresponding microrobotic issues. Beyond the microfabrication technologies, performing MEMS microassembly requires, micromanipulation strategies, microworld dynamics and attachment technologies. The design and the fabrication of the microrobot end-effectors as well as the assembled micro-parts require the use of microfabrication technologies. Moreover new micromanipulation strategies are necessary to handle and position micro-parts with sufficiently high accuracy during assembly. The dynamic behaviour of micrometric objects has also to be studied and controlled. Finally, after positioning the micro-part, attachment technologies are necessary

Towards Fully Additively-Manufactured Permanent Magnet Synchronous Machines: Opportunities and Challenges

With the growing interest in electrification and as hybrid and pure electric powertrains are adopted in more applications, electrical machine design is facing challenges in terms of meeting very demanding performance metrics for example high specific power, harsh environments, etc. This provides clear motivation to explore the impact of advanced materials and manufacturing on the performance of electrical machines. This paper provides an overview of additive manufacturing (AM) approaches that can be used for constructing permanent magnet (PM) machines, with a specific focus on additively-manufactured iron core, winding, insulation, PM as well as cooling systems. Since there has only been a few attempts so far to explore AM in electrical machines (especially when it comes to fully additively-manufactured machines), the benefits and challenges of AM have not been comprehensively understood. In this regard, this paper offers a detailed comparison of multiple multi-material AM methods, showing not only the possibility of fully additively-manufactured PM machines but also the potential significant improvements in their mechanical, electromagnetic and thermal properties. The paper will provide a comprehensive discussion of opportunities and challenges of AM in the context of electrical machines

Modular and Reconfigurable 3D Micro-Optical Benches : Concept, Validation and Characterization.

International audienceIn this paper, we present an approach to design MOEMS based on Reconfigurable Free Space Micro-Optical Benches (RFS-MOB). The proposed concept enables to design modular and reconfigurable MOEMS by using a generic structure of silicon holders and non defined position in the substrate. Various micro-optical elements, e.g. microlenses or micromirrors, can be integrated within holders. Their assembly is achieved with an active microgripper, after high precision alignement within guiding rails of silicon substrate. Flexible parts are used to maintain a final position. The concept is validated by successful assembly of holders. A characterization method of assembled holders is proposed and provides an accuracy better than 0.04 for an angle measurement

Microassembly technology for modular, polymer microfluidic devices

Assembly of modular, polymer microfluidic devices with different functions to obtain more capable instruments may significantly expand the options available for detection and diagnosis of disease through DNA analysis and proteomics. For connecting modular devices, precise, passive alignment structures can be used to prevent infinitesimal motions between the devices and minimize misalignment. The motion and constraint of passive alignment structures were analyzed using screw theory. A combination of three v-groove and hemisphere-tipped post joints constrained all degrees of freedom of the two mating modules without overconstraint. Simulations and experiments were performed to assess the predictability of dimensional and location variations of injection molded components. A center-gated disk with micro scale assembly features was replicated. Simulations using a commercial package (Moldflow) overestimated replication fidelity. Mold surface temperatures and injection speeds significantly affected the experimental replication fidelity. The location of features for better replication, at each mold surface temperature, moved from the edge of the mold cavity to the injection point as the mold surface temperature increased from 100˚C to 150˚C. Prototype modular devices were replicated using double-sided injection molding for the experimental demonstration. Dimensional and location variations of the assembly features and alignment standards were quantified for an assembly tolerance analysis. Monte Carlo methods were applied to the assembly tolerance analysis to simulate propagation and accumulation of variation in the assembly. In simulations, mean mismatches with standard deviations ranged from 115±29 to 118±30 µm and from 17±11 to 19±13 µm along the X- and Y-axes, respectively. Vertical gaps with standard deviations at the X- and Y-axes were 312±37~319±37 µm, compared to the designed value of 287µm. The measured lateral mismatches were 103±7~116±11 µm and 15±9~20±6 µm along the X- and Y-axes, respectively. The vertical gaps ranged from 277±4 µm to 321±7 µm at the X- and Y-axes, respectively. The present study combined an investigation of microassembly technology with a better understanding of the micro injection molding process, to assist in realizing cost-effective mass production of modular, polymer microfluidic devices enabling biochemical analysis

Enabling New Functionally Embedded Mechanical Systems Via Cutting, Folding, and 3D Printing

Traditional design tools and fabrication methods implicitly prevent mechanical engineers from encapsulating full functionalities such as mobility, transformation, sensing and actuation in the early design concept prototyping stage. Therefore, designers are forced to design, fabricate and assemble individual parts similar to conventional manufacturing, and iteratively create additional functionalities. This results in relatively high design iteration times and complex assembly strategies

Funding and Strategic Alignment Guidance for Infusing Small Business Innovation Research Technology Into Human Exploration and Operations Mission Directorate Projects for 2016

This report is intended to help NASA program and project managers incorporate Small Business Innovation Research Small Business Technology Transfer (SBIR/STTR) technologies into NASA Human Exploration and Operations Mission Directorate (HEOMD) projects. Other Government and commercial projects managers can also find this useful. Space Transportation; Life Support and Habitation Systems; Extra-Vehicular Activity; High EfficiencySpace Power; Human Exploration and Operations Mission

The NASA SBIR product catalog

The purpose of this catalog is to assist small business firms in making the community aware of products emerging from their efforts in the Small Business Innovation Research (SBIR) program. It contains descriptions of some products that have advanced into Phase 3 and others that are identified as prospective products. Both lists of products in this catalog are based on information supplied by NASA SBIR contractors in responding to an invitation to be represented in this document. Generally, all products suggested by the small firms were included in order to meet the goals of information exchange for SBIR results. Of the 444 SBIR contractors NASA queried, 137 provided information on 219 products. The catalog presents the product information in the technology areas listed in the table of contents. Within each area, the products are listed in alphabetical order by product name and are given identifying numbers. Also included is an alphabetical listing of the companies that have products described. This listing cross-references the product list and provides information on the business activity of each firm. In addition, there are three indexes: one a list of firms by states, one that lists the products according to NASA Centers that managed the SBIR projects, and one that lists the products by the relevant Technical Topics utilized in NASA's annual program solicitation under which each SBIR project was selected