Mobile crawler robot vibration analysis in the contexts of motion speed selection

The article presents the methodology of body vibration analysis of an inspection robot with the use of flexible connection between the body and the track propulsion modules. The article presents the methodology of selection of motion parameters of an inspection robot, taking into account the vibration of the robot body. The speed of movement of the robot affects the frequency of contact track claws with the ground, which is related to the frequency of vibration excitation. Robot motion parameters are chosen in such a way so as not to over-stimulate the natural frequency of the system. Due to the vibration reduction, it was possible to install a visual system based on an Ethernet video camera without a stabilizer in the body of the robot. Such an approach enables mass production of robots without active suppression systems and video stabilizers which generate high production costs, increase weight of robots and energy consumption

Automatic Detection of Industrial Robot Tool Damage Based on Force Measurement

This paper proposes a solution for diagnosing the condition of the tools applied in metal alloy robotic machining. Determination of the condition of a cutting tool requires specific methods that depend on the damage type or the wear level. Methods that involved measurements of basic geometric dimensions of cutting tools based on force sensor, and testing the forces of inertia caused by tool unbalance were applied in the work covered herein. Damage of cutting tool, including unbalance, fracture or complete tool wear were detected with a system of force measurement, which was part of the standard equipment of the robot in a process used to investigate the methods covered herein. All methods proposed herein were performed automatically and require no human intervention. This paper presents examples of solutions for determining the condition of a grinding pin, which is a common machining tool

Robotic Grinding Process of Turboprop Engine Compressor Blades with Active Selection of Contact Force

The work presents a robotic system for grinding the blades of a turboprop engine compressor. The proprietary conceptual solution includes a data acquisition system based on a robotic 3D scanner, a neural decision system and a robot performing a grinding process with force control. The contact force of the tool to the blade was assumed as a variable and controlled process parameter. A neural network was used to generate the contact force on the basis of measured machining allowances on the blade. A virtual grid of several dozen regularly spaced points was placed on the surface of the blade. The neural network was learned the allowance-force dependence for the selected points, making it possible to select the proper contact force on the surface to be machined. The developed algorithm for the process of robotic grinding of the blades takes into account the necessity of ongoing quality control of the processing and the introduction of corrections in the process

Vision-based motion analysis and deflection measurement of a robot's crawler unit

This paper presents an approach to modeling the slippage of a robot’s rubber tracks moving on a non-deformable surface. A single horizontal deflection of a one-track lug is considered. The issue is modeled by FEM and verified by track lug deflection measurement and trajectory motion analysis. As a measurement device, a vision system is developed and configured. The vision-based measurement method can be considered as a new approach for estimating a robot’s track slippage

Software for the robot-operated inspection station for engine guide vanes taking into consideration the geometric variability of parts

U radu je prikazan proces projektiranja i izgradnje softvera za robotsku ispitnu stanicu koja se koristi za provjeru statora. Softver je razvijen za stanicu sa ABB IRB 140 robotskim manipulatorom i PC radnom stanicom koja upravlja s dva ultrazvučna senzora i pokreće LabVIEW softverski paket. Kontrolni algoritmi robota uključuju potencijalne razlike u geometrijskim značajkama pregledanih elemenata na ispitnoj stanici i nastalim razlikama u stazama kretanja manipulatora alata. Softver je dizajniran i isporučen Pratt & Whitney Rzeszów Sp. z o.o.The paper presents a process of designing and building software for a robotic test stand used for inspection of stators. The software was developed for a test stand comprising the ABB IRB 140 robotic manipulator, and a PC workstation that handles two ultrasound sensors and runs the LabVIEW software suite. The control algorithms of the robot include the potential differences in the geometric features of the items inspected on the test stand and the resulting differences in the manipulator tool motion paths. The software was designed for and delivered to Pratt & Whitney Rzeszów Sp. z o.o

Robot-operated inspection of aircraft engine turbine rotor guide vane segment geometry

U radu je prikazana metoda robotom upravljane kontrole geometrije jednog segmenta statora turbine avionskog motora, primjenom ABB IRB 1600 robota, opremljenog Atos core 3D skenerom u sučelju s Atos Professional softverskim paketom. Kontrola geometrije preliminarna je geometrijska verifikacija odljevka tankih stijenki u odnosu na CAD-generirani nominalni model. Ako su zadovoljene tolerancije geometrije odljevka, određuju se karakteristične koordinate točaka na odljevku za njihovu daljnju prilagodbu tijekom alternativnog mjerenja debljine stijenke lopatice uz pomoć robota, što je učinjeno s ABB IRB 140 robotom primjenom UTT metode.This paper presents a method for robot-assisted geometrical inspection of an aircraft engine turbine stator segment employing the ABB IRB 1600 robot, equipped with the Atos Core 3D scanner and interfaced with the Atos Professional software suite. The geometrical inspection is a preliminary geometrical verification of a thin-wall casting against a CAD-generated nominal model. If the casting geometry tolerances are met, characteristic coordinates of points across the casting are determined for their further adaptation during an alternative robot-assisted vane wall thickness measurement, which is done with the ABB IRB 140 robot and by employing the UTT method

Design and dynamic testing of a roller coaster running wheel with a passive vibration damping system

This paper presents a design, a numerical analysis, a build-up and dynamic testing of an engineered and fabricated wheel with a passive vibration damping system designed for a roller coaster system. Taking into account the limited amount of space for fixing a wheel to a roller-coaster, this study shows an approach in which a special wheel design and viscoelastic inserts are used to reduce vibrations. A wheel comprises a rim and hub separated by a viscoelastic material and simultaneously connected by using spring steel fasteners with contractions ensuring elasticity. The dynamic tests of the wheel with a passive vibration damping system were completed with an assessment of the vibration reduction ratio in comparison to conventional roller coaster wheel types currently operated at the amusement park Energylandia located in Zator, Poland. Laboratory test results show reduction of vibrations by 36 % in the low frequency range, by 63 % in the medium frequency range and by 45 % in the high frequency range

Calibration and verification of an original module measuring turbojet engine blades geometric parameters

The article presents the issue of calibration and verification of an original module, which is a part of the robotic turbojet engines elements processing station. The task of the module is to measure turbojet engine compressor blades geometric parameters. These type of devices are used in the automotive and the machine industry, but here we present their application in the aviation industry. The article presents the idea of the module, operation algorithm and communication structure with elements of a robot station. The module uses Keyence GT2-A32 contact sensors. The presented information has an application nature. Functioning of the module and the developed algorithm has been tested, the obtained results are satisfactory and ensure sufficient process accuracy. Other station elements include a robot with force control, elements connected to grinding such as electrospindles, and security systems

Verification hybrid control of a wheeled mobile robot and manipulator

In this article, innovative approaches to realization of the wheeled mobile robots and manipulator tracking are presented. Conceptions include application of the neural-fuzzy systems to compensation of the controlled system’s nonlinearities in the tracking control task. Proposed control algorithms work on-line, contain structure, that adapt to the changeable work conditions of the controlled systems, and do not require the preliminary learning. The algorithm was verification on the real object which was a Scorbot - ER 4pc robotic manipulator and a Pioneer - 2DX mobile robot

The application of virtual prototyping methods to determine the dynamic parameters of mobile robot

The paper presents methods used to determine the parameters necessary to build a mathematical model of an underwater robot with a crawler drive. The parameters present in the dynamics equation will be determined by means of advanced mechatronic design tools, including: CAD/CAE software andMES modules. The virtual prototyping process is described as well as the various possible uses (design adaptability) depending on the optional accessories added to the vehicle. A mathematical model is presented to show the kinematics and dynamics of the underwater crawler robot, essential for the design stage