111 research outputs found

    Model-based Manipulation of Deformable Linear Objects by Multivariate Dynamic Splines

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    In this paper, the modelling and the simulation of a Deformable Linear Object (DLO) manipulation are reported. The main motivation of this study is to define a strategy to enable a robotic manipulator to predict in real time the shape a DLO will achieve during the execution of a manipulation action. To accomplish this target in a reasonable time, according to the possibility of adopting this solution in an industrial manufacturing system, an approximate but physically consistent model of the DLO is adopted considering the predominant plasticity of the object to be manipulated, as in the case of electric cable manipulation. The DLO manipulation model is based on multivariate dynamic splines solved iteratively in real-time to interpolate the DLO shape during the manipulation sequence. The systems assumes to be able to detect the initial configuration of the DLO at each iteration of the algorithm by means of a proper vision system. Preliminary simulation results are presented to show the effectiveness of the method

    An approach for the bimanual manipulation of a deformable linear object using a dual-arm industrial robot : cable routing use case

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    The automation of processes that handle deformable materials is considered to be a complicated task. Due to their properties, these materials require specialised solutions for their manipulation, using robotic systems and mostly, using specifically developed hardware which limits its use for different deformable objects. To solve this issue, this paper presents an approach for bimanually manipulating Deformable Linear Objects (DLOs) using a dual-arm industrial robot. This approach aims at providing an automatic, generic, and easily reconfigurable solution and is implemented for routing cables in a human-centric platform. The approach consists of a cyber-physical system (CPS) composed by commercial hardware: a robot equipped with two parallel grippers, and a reconfigurable Robot Operating System (ROS) software. In more details, the developed software extracts information about the process, such as the routing path, keypoints of the workstation setup and objects dimensions. Then, it uses the extracted information to generate suitable bimanual trajectories for the robot. Finally, the approach has been tested for three different routine paths.acceptedVersionPeer reviewe

    Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2021

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    This Open Access proceedings presents a good overview of the current research landscape of assembly, handling and industrial robotics. The objective of MHI Colloquium is the successful networking at both academic and management level. Thereby, the colloquium focuses an academic exchange at a high level in order to distribute the obtained research results, to determine synergy effects and trends, to connect the actors in person and in conclusion, to strengthen the research field as well as the MHI community. In addition, there is the possibility to become acquatined with the organizing institute. Primary audience is formed by members of the scientific society for assembly, handling and industrial robotics (WGMHI)

    Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2021

    Get PDF
    This Open Access proceedings presents a good overview of the current research landscape of assembly, handling and industrial robotics. The objective of MHI Colloquium is the successful networking at both academic and management level. Thereby, the colloquium focuses an academic exchange at a high level in order to distribute the obtained research results, to determine synergy effects and trends, to connect the actors in person and in conclusion, to strengthen the research field as well as the MHI community. In addition, there is the possibility to become acquatined with the organizing institute. Primary audience is formed by members of the scientific society for assembly, handling and industrial robotics (WGMHI)

    Computing gripping points in 2D parallel surfaces via polygon clipping

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    Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2021

    Get PDF
    This Open Access proceedings presents a good overview of the current research landscape of assembly, handling and industrial robotics. The objective of MHI Colloquium is the successful networking at both academic and management level. Thereby, the colloquium focuses an academic exchange at a high level in order to distribute the obtained research results, to determine synergy effects and trends, to connect the actors in person and in conclusion, to strengthen the research field as well as the MHI community. In addition, there is the possibility to become acquatined with the organizing institute. Primary audience is formed by members of the scientific society for assembly, handling and industrial robotics (WGMHI)

    A framework for digitisation of manual manufacturing task knowledge using gaming interface technology

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    Intense market competition and the global skill supply crunch are hurting the manufacturing industry, which is heavily dependent on skilled labour. Companies must look for innovative ways to acquire manufacturing skills from their experts and transfer them to novices and eventually to machines to remain competitive. There is a lack of systematic processes in the manufacturing industry and research for cost-effective capture and transfer of human skills. Therefore, the aim of this research is to develop a framework for digitisation of manual manufacturing task knowledge, a major constituent of which is human skill. The proposed digitisation framework is based on the theory of human-workpiece interactions that is developed in this research. The unique aspect of the framework is the use of consumer-grade gaming interface technology to capture and record manual manufacturing tasks in digital form to enable the extraction, decoding and transfer of manufacturing knowledge constituents that are associated with the task. The framework is implemented, tested and refined using 5 case studies, including 1 toy assembly task, 2 real-life-like assembly tasks, 1 simulated assembly task and 1 real-life composite layup task. It is successfully validated based on the outcomes of the case studies and a benchmarking exercise that was conducted to evaluate its performance. This research contributes to knowledge in five main areas, namely, (1) the theory of human-workpiece interactions to decipher human behaviour in manual manufacturing tasks, (2) a cohesive and holistic framework to digitise manual manufacturing task knowledge, especially tacit knowledge such as human action and reaction skills, (3) the use of low-cost gaming interface technology to capture human actions and the effect of those actions on workpieces during a manufacturing task, (4) a new way to use hidden Markov modelling to produce digital skill models to represent human ability to perform complex tasks and (5) extraction and decoding of manufacturing knowledge constituents from the digital skill models

    Adhesive joint geometry variation in non-rigid aircraft structures

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    Adhesive bonding is a proven alternative to mechanical fasteners for structural assembly, offering lighter and thus more fuel efficient aircraft and cost-effective manufacturing processes. The effective application of bonded structural assemblies is however limited by the tight fit-up requirement, which is with tolerance ranges of hundreds of microns; this can be a challenge for the industry to meet considering the variability of current part manufacturing methods and the conservative nature of the conventional tolerance stack-up analysis method. Such a (perceived) limitation can discourage effective exploitation of bonding technologies, or lead to development of overengineered solutions for assurance. This work addresses such challenge by presenting an enhanced bondline thickness variation analysis accounting for part deflection of a bonded skinstringer assembly representing a typical non-rigid airframe structure. A semianalytical model accounting for unilateral contact and simplified 1D adhesive flow has been developed to predict bondline thickness variation of the assembly given the adherends’ mechanical properties, adhesive rheological properties, and external assembly forces or boundary conditions. A spectral-analysis method for assembly force requirement estimation has also been tested. The bondline dimensions of several representative test articles have been interrogated, including a reconfigurable test assembly designed specifically to test the input conditions that affect bondline geometry variation. It has been demonstrated that the part deflections need to be accounted for regarding the fit-up requirement of bonded non-rigid structural assembly. The semi-analytical model has been found to more reliable and realistic prediction of bondline thickness when compared to a rigid tolerance stack-up. The analysis method presented can be a major technology enabler for faster, more economical development of the aircraft of the future, as well as of any analogue structures with high aspect ratios where weight savings and fatigue performance may be core objectives.Aerospac

    Making a success of ‘failure’: a Science Studies analysis of PILOT and SERC in the context of Australian space science

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    This thesis presents an in-depth empirical investigation, based on participant observation, interviews and publicly available materials, of PILOT and SERC, two recent Australian space science projects that were both connected to the problem of space debris. While PILOT’s proposal for funding failed, SERC was successfully funded yet failed to reach its initially stated goal of demonstrating the possibility of Active Debris Removal (ADR) using a ground-based high power laser combined with laser guide star adaptive optics. My analysis illustrates that the Australian space science funding and policy environment changed significantly in the brief period between PILOT’s unsuccessful proposal and SERC’s formation, marking the period of time in which dual-use space capability development was recognised as a political strategic priority. In SERC’s case, dual-use technology has been developed through (substantially) publicly funded institutions and by civil scientists. I argue that the current arrangement of policy and funding structures in the Australian space sciences sector facilitates engagement in dual-use technology development in such a way that two outcomes emerge: first, that moral responsibility for the products of such research is institutionally and individually avoided by distributing it ‘up the chain’ to national governmental entities, and second, that international legal responsibility is likewise avoided at a national level by distributing it ‘down the chain’ to institutions. I demonstrate how policy and funding conditions in Australia allowed individuals working in, and adjacent to, the space sciences to maintain, unchallenged, the convenient fiction that science is itself amoral and, to some extent, apolitical
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