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

Design for manufacturability and assembly

This report presents a study of the various concepts of design for manufacturability and assembly with some case studies, and examples. The goal of DFM is reduction of parts and simplifying assembly process. A simple faucet has been studied and attempts have been made at re-designing the same using the techniques of design for manufaturability as postulated by Boothroyd, Dewhurst and Henry Stoll

3D printed pneumatic soft actuators and sensors: their modeling, performance quantification, control and applications in soft robotic systems

Continued technological progress in robotic systems has led to more applications where robots and humans operate in close proximity and even physical contact in some cases. Soft robots, which are primarily made of highly compliant and deformable materials, provide inherently safe features, unlike conventional robots that are made of stiff and rigid components. These robots are ideal for interacting safely with humans and operating in highly dynamic environments. Soft robotics is a rapidly developing field exploiting biomimetic design principles, novel sensor and actuation concepts, and advanced manufacturing techniques. This work presents novel soft pneumatic actuators and sensors that are directly 3D printed in one manufacturing step without requiring postprocessing and support materials using low-cost and open-source fused deposition modeling (FDM) 3D printers that employ an off-the-shelf commercially available soft thermoplastic poly(urethane) (TPU). The performance of the soft actuators and sensors developed is optimized and predicted using finite element modeling (FEM) analytical models in some cases. A hyperelastic material model is developed for the TPU based on its experimental stress-strain data for use in FEM analysis. The novel soft vacuum bending (SOVA) and linear (LSOVA) actuators reported can be used in diverse robotic applications including locomotion robots, adaptive grippers, parallel manipulators, artificial muscles, modular robots, prosthetic hands, and prosthetic fingers. Also, the novel soft pneumatic sensing chambers (SPSC) developed can be used in diverse interactive human-machine interfaces including wearable gloves for virtual reality applications and controllers for soft adaptive grippers, soft push buttons for science, technology, engineering, and mathematics (STEM) education platforms, haptic feedback devices for rehabilitation, game controllers and throttle controllers for gaming and bending sensors for soft prosthetic hands. These SPSCs are directly 3D printed and embedded in a monolithic soft robotic finger as position and touch sensors for real-time position and force control. One of the aims of soft robotics is to design and fabricate robotic systems with a monolithic topology embedded with its actuators and sensors such that they can safely interact with their immediate physical environment. The results and conclusions of this thesis have significantly contributed to the realization of this aim

Tecnologías automatizadas implementadas en la FMS HAS200

This paper presents the automation implemented through a series of projects oriented towards the continuous improvement and development of the didactic systems present in HAS200 flexible manufacturing cells of the Facultad Tecnológica of the Universidad Distrital Francisco José de Caldas. Through these projects, it has been possible to implement a series of automated improvements such as (i) a virtual environment of the flexible manufacturing cell, geometrically modeled for remote simulation of the didactic processes; (ii) a new automated station for recycling pellets that is integrated with the other stations to classify the raw material in three separate colors; (iii) a new user-machine interface for a Melfa Mitsubishi RV-M1 manipulator arm, which allows the recycling station to be integrated with the rest of the flexible manufacturing cell; iv) an automated gripper design for handling and subsequent opening of containers within the cell; v) an artificial vision system implemented to alternate autonomous transport of product between stations using unmanned ground vehicles; vi) a virtual course for the management and operation of the flexible manufacturing cell. The automation strategies proposed in the HAS200 can be extrapolated to real production environments under the same automation concepts, which makes each result obtained doubly beneficial.En este artículo se presenta la automatización implementada a través de una serie de proyectos orientados hacia el continuo mejoramiento y desarrollo de los sistemas didácticos presentes en celdas de manufactura flexibles HAS200 de la Facultad Tecnológica de la Universidad Distrital Francisco José de Caldas. Por medio de dichos proyectos se ha logrado implementar una serie de mejoras automatizadas como por ejemplo: i) un entorno virtual de la celda de manufactura flexible, modelado geométricamente para la simulación remota de los procesos didácticos; ii) una novedosa estación automatizada para el reciclaje de pellets que se integra con las demás estaciones para clasificar la materia prima en tres colores separados; iii) una nueva interfaz de usuario-máquina para un brazo manipulador Melfa Mitsubishi RV-M1, que permite integrar la estación de reciclaje con el resto de la celda de manufactura flexible; iv) un diseño de gripper automatizado, para la manipulación y posterior apertura de recipientes dentro de la celda; v) un sistema de visión artificial implementado al transporte autónomo alterno de producto entre estaciones mediante vehículos terrestres no tripulados; vi) un curso virtual para el manejo y operación de la celda de manufactura flexible. La automatización propuesta en la HAS200 puede ser extrapolable hacia entornos productivos reales bajo los mismos conceptos de automatización, lo cual hace que cada resultado obtenido sea doblemente beneficioso

NASA space station automation: AI-based technology review

Research and Development projects in automation for the Space Station are discussed. Artificial Intelligence (AI) based automation technologies are planned to enhance crew safety through reduced need for EVA, increase crew productivity through the reduction of routine operations, increase space station autonomy, and augment space station capability through the use of teleoperation and robotics. AI technology will also be developed for the servicing of satellites at the Space Station, system monitoring and diagnosis, space manufacturing, and the assembly of large space structures

Design of An Automated Assembly Line for Manufacturing Visual Tension Indicating Fasteners

Threaded fasteners play a major role in mechanical assemblies to clamp components or flanges. While bolted joints have been in use for many centuries and are simple to design and use, they are not foolproof; it is often difficult to achieve the required clamping force accurately by applying the designer-prescribed tightening torque, determined assuming ideal conditions of the contacting surfaces. Therefore, a concept that can directly measure tension on bolted joints is necessary. In this work, the concept of visual tension indicating fasteners is introduced and explained. After testing the feasibility of the concept, an automated assembly line is designed and fabricated in order to produce these fasteners with a more reliable manufacturing process