Robot assembly trajectory generation using form feature driven robot process model

<div class="htmlview paragraph">Valve blocks are the key parts in hydraulic systems. A feature-based product model is the foundation of the CAD/CAM system for valve blocks--VBCADAM. This paper mainly analyses the design procedure of valve blocks, the application of feature-based design and modeling, object-oriented approach in the development of VBCADAM, such as feature definition and classification, the frame description of features, structure of product model and also the application of the product model in VBCADAM.</div>

Dynamics and control for in-space assembly robots with large translational and rotational maneuvers

Feature recognition, integrated with design-by-features, has the potential to support a multiple-view CAD environment, allowing the representation of different feature-based models, that are meaningful for different contexts. They represent a vital step in the direction of product modelling in Concurrent Engineering. In this paper we present a flexible feature recognition system, in which topological, morphological and geometric information is processed at different levels of detail, providing the user with a mechanism that can be tuned to application needs.

In robotic processes, the compliance of the robot arm plays a very important role. In some conditions, for example, in robotic assembly, robot arm compliance can compensate for small position and orientation errors of the end-effector. In other processes, like machining, robot compliance may generate chatter vibrations with an impairment in the quality of the machined surface. In industrial robots, the compliance of the end-effector is chiefly due to joint compliances. In this paper, joint compliances of a serial six-joint industrial robot are identified with a novel modal method making use of specific modes of vibration dominated by the compliance of only one joint. Then, in order to represent the effect of the identified compliances on robot performance in an intuitive and geometric way, a novel kinematic method based on the concept of “Mozzi axis” of the end-effector is presented and discussed.

Future robotic assembly systems will allow product designers to upload their assembled product models remotely such that they can be assembled autonomously. In this work we present the architecture for a Click and Assemble Robotic Assembly (CARA) system. This architecture takes an assembly file uploaded by the user through a web interface as the only input. It then performs all the necessary planning before executing the assembly. To the authors’ knowledge, this is the first time that all of the required components from previous advances in robotic assembly have been brought together, with all interconnecting challenges solved, into a complete working system for physical, real world assembly tasks. To demonstrate the implemented architecture capabilities, a real industrial product with tight tolerances was assembled from its CAD file only, illustrating the end to end robotic assembly premise in a real world setting.

In robotic assembly processes, detecting target pose is indispensable for robot manipulation algorithms. Such a tedious work hinders the further application of robot manipulation algorithms to real industrial processes. In this paper, a vision-based position/impedance control framework is proposed. Therein, the objective pose is firstly obtained by a motion capture system, where a kinematic equation is solved to Figure out the target assembly pose. Next the robot arm motion is approximated by an impedance model, in this way, the position/impedance control law of the robot is derived, which drives the robot to perform a compliant assembly manipulation. Finally, a memory stick assembly experiment is conducted on a 6-DOF robot arm equipped with a motion capture system and a force-torque sensor. Experiment shows the efficiency of the vision-based position/impedance hybrid controller in terms of autonomous positioning and compliant assembly. Due to its convenience and generality, the present controller can be expected to apply to more general industrial scenarios.

The aim of the article. The purpose of the study, which is the subject of the article, was the formation of a system of product models, which covered the stage "production - distribution - exchange - consumption", which creates a basis for analysing the competitiveness of goods over time. To achieve this goal, the following tasks were set and solved: a) a comprehensive analysis of existing models in marketing; b) the formation of new models of goods that are not present today in the world scientific literature; c) formation of a system of product models in marketing as a basis for analysis of product competitiveness in the temporal aspect. Analyses results. Traditionally, in the process of analysing the competitiveness of the company in the centre of the analysis is the product as an object of market exchange. The issue of product competitiveness implies the need to determine the key aspects or components that will be subject to comparative analysis, as competitiveness is a relative concept. For a comprehensive analysis of competitiveness it is necessary to take into account the entire cycle of its production and market presence, its life cycle, in particular, within the classical scheme: production - distribution - exchange - consumption. At each of the stages of this scheme, the key are different aspects and characteristics of the product, according to the characteristics of interaction with it, which should be reflected in the marketing models of the product, developed separately for each stage. Within each stage, appropriate models are identified that reflect the specific requirements for the product related to the technical and economic characteristics of the enterprise. The first stage - production - aims to optimize production activities, so the model should reflect the characteristics of the production of goods. In the second stage - distribution - the product must meet the goal of optimizing logistics activities, therefore, the corresponding model reflects the characteristics of the product associated with logistics of sales. The third stage - exchange - is the point of intersection of supply and demand. Within the fourth stage of consumption, the product model should be focused on motivation and consumer behaviour. The presented models are connected into a system that is cross-cutting for the entire life cycle of the product and can serve as a basis for a comprehensive assessment of its competitiveness. Conclusions and directions for further research. The presented product models form an interconnected group, covering the entire economic cycle from the beginning of production to consumption. This approach helps to take into account the nuances of marketing management at each stage and to form a set of marketing measures to strengthen the competitiveness of the enterprise in terms of its product policy. A further area of research may be the development of an algorithm that will form a system of criteria for the competitiveness of goods in accordance with the specific market situation, taking into account the peculiarities of the implementation of stages within a certain market.

Electromechanical product is an important part of mechanical and electrical control system, and its quality plays a key role in the normal operation process. In this paper, a comprehensive fault diagnosis system and quality evaluation model for electromechanical products is analyzed. Firstly, the feature extraction of different faults is carried out, and the fault features of electromechanical products are simplified by using the approximation set information system properties of rough set theory. Secondly, the subjective weight index model is determined based on the rough information system properties of rough set theory. Then, the evaluation weight of each index of quality evaluation model for electromechanical products is obtained by the importance measurement of information system properties. Finally, this paper illustrates that the results of fault diagnosis and quality evaluation of ball valves as well as the availability of scientific.

Assembly model of mechanical products for their life cycle simulation

This section is the first part of the main technical specification section and contains detailed information on a wide range of physical characteristics for robots used in manufacturing industry, particularly those which perform functions which involve the manufacture and assembly of products. The section also includes robots used in spray painting applications, machine and machine tool loading and unloading and for palletizing. Where main applications are detailed this information serves as a guide to the functions which the robot has been programmed to perform. At the same time, and by their very natures, robots are flexible manufacturing systems and, as such, can be adapted to perform a full range of other functions if so required.

In this paper, a mixed-model assembly system is modeled using ATPN (agent oriented timed Petri net) based on assembly resources classification. Firstly, the basic concepts and definition of ATPN is described. Secondly, with ATPN method introduced into mixed-model system research the modeling of a mixed-model assembly system is discussed. The development of an ATPN model for a MMAS consists of four phases: (1) agent-oriented assembly resources classification of MMAS, (2) development of universal ATPN model of each kind of assembly resource, (3) construction of mixed-model assembly cell centering about assembly robots or humans, (4) construction of the MMAS model based on mixed-model assembly cell after analyzing the system requirements. Thirdly, by studying the transforming from AUML (agent Unified Modeling Language) model towards ATPN-based model and its simplification the ATPNbased interactive protocol model is constructed for a mixed-model assembly system. Meanwhile, based on ATPN the performance indicators of mixed-model assembly System are analyzed. Finally, an illustrative example of a MMAS in certain enterprise demonstrates the steps and effectiveness of this approach.

A promising direction in the development of robotics is collaborative robotics under control of artificial intelligence systems. Such socio-cyber-physical systems are able to provide a synergistic effect in implementation of weakly determined technological processes. Nevertheless, there is a low degree of efficiency of known methods for integrating human factor models within robotic process` digital twin, as well as the lack of unified methodologies for developing models themselves that describe human condition and its impact on technological process key indicators. As part of the study, the tasks of forming theoretical foundations, methodologies and applied implementations aimed at increasing attractiveness of collaborative solutions for industrial enterprises are set. The result is achieved by improving quality and degree of integration of human factors models into robotic process` digital twins. An idea is proposed that consists in building a socio-cyber-physical system based on cobot models and a human factor model in context of "subject-subject" interaction, which will allow delegating more management functions to the ICS and provide greater flexibility for intelligent process control and an increased degree of robustness to an unfavorable state manifestation person. A conceptual model of the human factor and a prototype model of interaction between robot and operator are proposed. The mathematical model will allow taking into account toperator current state when designing a response to a disturbance, maintaining the high-level quality of collaborative production process. Software architecture elements and procedure for organizing the modes of operation of the ICS are presented.

An ideal product modeling system should support both part modeling and assembly modeling, instead of just either of them as is the case in most current CAD systems. A good basis for such integration is multiple-view feature modeling, as it allows focusing on different aspects of the product, while at the same time maintaining consistency of all model views. This paper presents a framework that supports synchronous collaborative sessions via Internet, among members of a distributed development team, with such a modeling system. The framework provides facilities for creating a hierarchical product structure, with single and compound components, and meanwhile assigning tasks to team members. The actual design of a single component is supported by a web-client specialized in part design, whereas the specification of assembly relations among components is supported by a web-client specialized in assembly design. All clients make use of the same server, which runs a multiple-view feature modeling system and maintains the complete product model, guaranteeing consistency of the part design and the assembly design views.

This book focuses on the design of Robotic Flexible Assembly Cell (RFAC) with multi-robots. Its main contribution consists of a new effective strategy for scheduling RFAC in a multi-product assembly environment, in which dynamic status and multi-objective optimization problems occur. The developed strategy, which is based on a combination of advanced solution approaches such as simulation, fuzzy logic, system modeling and the Taguchi optimization method, fills an important knowledge gap in the current literature and paves the way for future research towards the goal of employing flexible assembly systems as effectively as possible despite the complexity of their scheduling.

Russian shipbuilding is facing a systemic crisis caused by high labor intensity, a shortage of skilled workers, and low efficiency. This article provides a comprehensive analysis of the potential of advanced robotics as a means of overcoming a key contradiction: the need to increase productivity in small-scale production, where standard solutions from mass-produced machinery are inapplicable. Based on an analysis of the current state (the level of robotization is estimated at 5-10%) and a study of successful global cases (Hyundai, Meyer Werft), the article identifies technological, economic, and personnel barriers. The strategic solution proposed is not piecemeal equipment replacement, but a systemic transformation based on the creation of integrated robotic systems inextricably linked to digital twins. Key areas for robotization of shipyard assembly and welding production are identified, and a comprehensive roadmap is developed. Its implementation will enable a qualitative leap: increasing productivity by 40-60%, significantly reducing defects and material costs, which will ultimately ensure a new level of global competitiveness for the domestic shipbuilding industry.