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1
Gonzalez, José Henrique da Costa Queiroz, and Nelson Kuwahara. "Production Line Virtualization Process Using Plant Simulation Tool." International Journal for Innovation Education and Research 9, no. 9 (September 1, 2021): 188–201. http://dx.doi.org/10.31686/ijier.vol9.iss9.3329.
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The constant changes in the world generate demands for improvements in processes, either by reducing costs or increasing capacity. One of the most used methods today for process optimization is Discrete Simulation. This research presents a discrete simulation application, using the Tecnomatix Plant Simulation software to simulate a production line in the Manaus Industrial Pole. Mathematical modeling made it possible to understand the parameters involved in the production process and worked as a guide for the production line's composition in the Plant Simulation environment. The production line modeled in Plant Simulation used real input data obtained in two months of production in 2020. The results obtained showed that the modeling reached the objective of virtualizing the production process, once that the differences between the simulation and the real process were at most 1.07%.
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Ružarovský, Roman, Radovan Holubek, and Daynier Rolando Delgado Sobrino. "Virtual Commissioning of a Robotic Cell Prior to its Implementation Into a Real Flexible Production System." Research Papers Faculty of Materials Science and Technology Slovak University of Technology 26, no. 42 (June 1, 2018): 93–101. http://dx.doi.org/10.2478/rput-2018-0011.
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Abstract With the rise of the Industry 4.0 and the digitization increase in the field of design of the automated devices and systems, raises the requirements to digitize all stages of the design processes, including Virtual Commissioning. This technology allows to verify the functionality of the device and/or systems, generate OLP programs for robots and test the functionality of the PLC code on the virtual model. The article presents research into the possibility of implementing a robotic cell into a real flexible production system in the Laboratory in order to eliminate defective products after an automatic control through the Quality-handling station. This technology was verified on the basis of a methodology through a virtual system model and a virtual control system in the Software-in-Loop using the Siemens Tecnomatix Process Simulate software.
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Ferro, Rodrigo, Gabrielly A. Cordeiro, Robert E. C. Ordóñez, Ghassan Beydoun, and Nagesh Shukla. "An Optimization Tool for Production Planning: A Case Study in a Textile Industry." Applied Sciences 11, no. 18 (September 8, 2021): 8312. http://dx.doi.org/10.3390/app11188312.
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The textile industry is an important sector of the Brazilian economy, being considered the fifth largest textile industry in the world. To support further growth and development in this sector, this document proposes a process for production analysis through the use of Discrete Event Simulation (DES) and optimization through genetic algorithms. The focus is on production planning for weaving processes and optimization to help make decisions about batch sizing and production scheduling activities. In addition, the correlations between some current technological trends and their implications for the textile industry are also highlighted. Another important contribution of this study is to detail the use of the commercial software Tecnomatix Plant Simulation 13®, to simulate and optimize a production problem by applying genetic algorithms with real production data.
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Skýpala, Richard, and Roman Ružarovský. "Virtual commissioning of automated manufacturing systems — Quality-handling station case study." MATEC Web of Conferences 343 (2021): 04002. http://dx.doi.org/10.1051/matecconf/202134304002.
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The aim of the contribution is to create an event-controlled simulation of an automated production system using selected simulation software according to analyses and creation PLC control program compatible with human-machine control interface (HMI) visualization. The programmer can test the control program without the need for additional hardware on a virtual model of the machine. This method is called as a Virtual Commissioning method. The question is whether these new digital technologies are beneficial in the development process of new machines. The theoretical part of the contribution deals with the evaluation of the current state of knowledge in the field of virtual commissioning systems from the perspective of the Industry 4.0 concept and the use of principles taken from the technology of digital twins for analysing the possibilities of productive support of simulation, programming and visualization of control. For the Virtual Commissioning of the Quality-handling station from a flexible production system. It was chosen Tecnomatix Process simulating software for the developing of the Digital Twin of the station that is suitable for the connection of the logical behaviour inputs and outputs of the Digital Twin to the PLCSIM emulator. The main goal is to create a functional PLC program, so that in the second phase the process of virtual commissioning can be tested by the Software-the-Loop method. The preparation of the simulation model consists in a sample of the control station model of the production system, the process of creating kinematic bonds, behaviour model, creating control signals in the Tecnomatix Process Simulate program. Programming procedure and acquaintance with control means in the Simatic Manager program, selection of communication interface and creation of control visualization. In the final work, validation is performed and evaluation supports the objectives and the results confirmed the benefits of the Virtual Commissioning tool.
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Biniek, Agata, and Agnieszka Terelak-Tymczyna. "Computer simulation in identification and elimination of waste in the production process." MATEC Web of Conferences 252 (2019): 05006. http://dx.doi.org/10.1051/matecconf/201925205006.
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This paper lays the theoretical foundations for the characterisation the course of processes in production engineering by means of computer tools, with the focus on the essence and benefits resulting from the use the programmes in question. The main objective of this study is to employ a selected computer tool for modelling, analysing and simulating a selected product manufacturing process to identify areas in the process that require improvement. The work involved the Tecnomatix Plant Simulation programme, in which the existing production process was modelled. The created model was used to simulate the runtime of the production lot, identify bottlenecks and analyse production losses, such as: waiting, stocks, and unnecessary transport. The conducted analysis has produced an outcome in the form of methods for eliminating identified production losses and modifying the model. The simulations were subsequently carried out on a modified model, which allowed determining the level of improvement of the assumed indicators, e.g. order completion time, set-up time, waiting time, stocks. The selected tool served not only as a means to visualising the course of the manufacturing process but also enabled us to optimise and improve it. The article presents the possibilities of using simulation programmes to identify and eliminate waste in production processes. In addition, the conclusions show not only the results of the simulations but also the most important benefits resulting from the use of this type of tools in production engineering, in particular in lean production management.
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Enescu, Monica Loredana, and Cătălin Alexandru. "Modeling and Simulation of A 6 Dof Robot." Advanced Materials Research 463-464 (February 2012): 1116–19. http://dx.doi.org/10.4028/www.scientific.net/amr.463-464.1116.
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The purpose of this paper is to model and simulate a 6 DOF robotic system with revolute joints. This is in order to optimize the motion law which results in uniform coating deposited by spray pyrolysis. The structure and the complexity of the robotic system are determined by the necessary movements in the spray pyrolysis process. The nozzle (end-effector of the robot manipulator) has two translations, in longitudinal and transversal direction relative to the surface deposition. The mechanical model of the robot mechanism was developed by using the MBS (Multi Body Systems) environment ADAMS of MSC Software.
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Wang, Zhen, Xiang Ming Dun, and Xiang Yong Dun. "Simulation of Vision-Based Royal Jelly Collecting Robot." Applied Mechanics and Materials 233 (November 2012): 247–54. http://dx.doi.org/10.4028/www.scientific.net/amm.233.247.
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A new method to collect royal jelly is proposed according to the view of industrial robot. A three-dimensional model of royal jelly collecting robot with a monocular camera is built. Detecting the particular shapes via Fourier Descriptors and finding the corresponding target points though the image shot by the camera. The vision-based process and the 3-D simulation are performed alternately to simulate picking up queen bee larvae according to robotic forward kinematics and inverse kinematics.
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Maia, Bruno Alves, and Marcelo H. Stoppa. "Simple Industrial Process Simulation with Mindstorms NXT as Tool in Automation Lessons." International Journal for Innovation Education and Research 2, no. 10 (October 31, 2014): 194–203. http://dx.doi.org/10.31686/ijier.vol2.iss10.260.
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This work presents the development of a simulation prototype for an automated manufacturing process using the Mindstorms NXT LEGO© robotic kit. This process consists of assembling a basic product, namely a mini car done with LEGO© pieces, into two phases. First, the coupling of the body and chassis and after this, the separation of assembled products by colour. The intent here is to show that it is possible to create an automated system with NXT, like a mockup, that can be simulate a real system, and which has similarity to an automated system using a Programmable Logic Controller (PLC), with the advantage of being more practical and cheaper than an educational simulation system with PLC. The aims here is present an adaptable tool, to auxiliar the automation teaching and to motivate to use of new technological tools in classroom.
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Holubek, Radovan, Roman Ružarovský, and Daynier Rolando Delgado Sobrino. "Using Virtual Reality as a Support Tool for the Offline Robot Programming." Research Papers Faculty of Materials Science and Technology Slovak University of Technology 26, no. 42 (June 1, 2018): 85–91. http://dx.doi.org/10.2478/rput-2018-0010.
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Abstract The present article focuses on the possibilities of using Virtual Reality (VR) as a supporting tool by using the offline programming method for industrial robots. The philosophy of using such a process is hierarchically linked to the observance of methodological procedures for the proposal new workstations with using industrial robots. First, it is necessary to develop CAD models of the projected workplace, which can be imported into a suitable simulation environment for the creation of robotic simulations with support for visualization to the immersive VR environment. In our case, the CAD software Catia was used to develop a workstation, followed by integration of the CAD database into the simulation environment of Process Simulate (PS). Support for the visualization in the immersive environment of the Virtual Reality of Process Simulate was vested using the glasses headset HTC VIVE.
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Poustinchi, Ebrahim. "Subtractive digital fabrication with actual robot and virtual material using a MARI platform." International Journal of Architectural Computing 16, no. 4 (November 28, 2018): 281–94. http://dx.doi.org/10.1177/1478077118801594.
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This article presents a project-based research study using a new hybrid augmented reality platform called the Mixed Architectural Robotic Interface. Using the Mixed Architectural Robotic Interface as a mixture of different software and hardware platforms, ranging from design/modeling software, simulation engine, and an augmented reality application, the designer would be able to evaluate the possibilities/limitations of the fabrication, in real time and as part of the design. This method advances designer’s understanding of the fabrication equipment as an input for the design decision-making process. This article demonstrates the potential of a virtual/actual hybridized platform as a new medium to design, simulate, and evaluate, in order to enhance the digital design and fabrication. Introducing the possibility of real-time communication between the digital design software and the fabrication platforms as well as the augmented reality simulation of the fabrication process, the Mixed Architectural Robotic Interface enables designers to test the fabrication process with the fabrication equipment in the early stages of the design process. This method makes it possible to move beyond the traditional limitations of machines pursuing “un-expected creativity,” without any additional time or cost for the process. Using the virtual material for fabrication, the Mixed Architectural Robotic Interface reduces the time and cost of having multiple iterations and encourages the hands-on experimental use of the fabrication tool (in this article robotic/computer numeric control milling) not only as a production tool but also as a design study tool.
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Wang, Guifeng, Huiyue Dong, Yingjie Guo, and Yinglin Ke. "Finite element simulation and experimental analysis of robotic boring based on an approach of equivalent stiffness." Proceedings of the Institution of Mechanical Engineers, Part B: Journal of Engineering Manufacture 232, no. 11 (January 31, 2017): 2008–18. http://dx.doi.org/10.1177/0954405416683430.
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Robotic boring is an effective way to implement finish machining of intersection holes. However, to a certain extent, its application is limited due to the low rigidity of the robot, whose stiffness brings on high vibration levels. In this study, a new approach based on an equivalent stiffness is proposed to gain a fundamental understanding for the cutting mechanism and vibration performance of a robotic boring system. In the approach, the robotic boring system in one direction is regarded as a mass–spring–damping unit according to the structure characteristics of the robot. Thus, the whole robotic boring system is equivalent to a mass–spring–damping group in three-dimensional space. The stiffness and natural frequency of the robot system were measured by stiffness identification and a modal test on an ABB IRB 6600-175/2.55 robot. An equivalent three-dimensional finite element model based on this approach was established to simulate the robotic boring process, and a verification experiment was conducted to determine the accuracy of the finite element simulation. The results show that the simulated cutting force components and the amplitude in the feed direction are in good agreement with the experiment under different cutting conditions, and this proposed approach is feasible.
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Huang, Zhi, Xu Ke, Shi Hang Cheng, and Fen Qing Heng. "Kinematics Analysis of Abrasive Belt Grinding Robot for Aero-Engine Blade and its Simulation." Advanced Materials Research 889-890 (February 2014): 1165–69. http://dx.doi.org/10.4028/www.scientific.net/amr.889-890.1165.
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This paper presents an abrasive belt grinding robotic system solution for traditional aero-engine blade manual grinding situation. In order to overcome the limitation of traditional polishing robot teaching programming way and improve the efficiency of the robot offline programming and simulation of interactive, based on OpenGL robot programming and motion simulation platform with interactive features is constructed with VC++6.0. The result shows that the system is able to realistically simulate the movement of industrial robots grinding and polishing process, and it provides a reference for the other abrasive belt grinding and polishing robot off-programming and kinematics simulation development technology.
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Židek, Kamil, Ján Piteľ, Milan Adámek, Peter Lazorík, and Alexander Hošovský. "Digital Twin of Experimental Smart Manufacturing Assembly System for Industry 4.0 Concept." Sustainability 12, no. 9 (May 1, 2020): 3658. http://dx.doi.org/10.3390/su12093658.
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This article deals with the creation of a digital twin for an experimental assembly system based on a belt conveyor system and an automatized line for quality production check. The point of interest is a Bowden holder assembly from a 3D printer, which consists of a stepper motor, plastic components, and some fastener parts. The assembly was positioned in a fixture with ultra high frequency (UHF) tags and internet of things (IoT) devices for identification of status and position. The main task was parts identification and inspection, with the synchronization of all data to a digital twin model. The inspection system consisted of an industrial vision system for dimension, part presence, and errors check before and after assembly operation. A digital twin is realized as a 3D model, created in CAD design software (CDS) and imported to a Tecnomatix platform to simulate all processes. Data from the assembly system were collected by a programmable logic controller (PLC) system and were synchronized by an open platform communications (OPC) server to a digital twin model and a cloud platform (CP). Digital twins can visualize the real status of a manufacturing system as 3D simulation with real time actualization. Cloud platforms are used for data mining and knowledge representation in timeline graphs, with some alarms and automatized protocol generation. Virtual digital twins can be used for online optimization of an assembly process without the necessity to stop that is involved in a production line.
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Pavkin, D. Yu, E. A. Nikitin, and V. A. Zobov. "Robotic System for Maintenance of Feed Table for Livestock Complexes." Agricultural Machinery and Technologies 14, no. 3 (September 25, 2020): 33–38. http://dx.doi.org/10.22314/2073-7599-2020-14-3-33-38.
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Assessing the robotization level of technological processes in livestock complexes based on the breeding, authors found that the most free niche of robotization of technological processes in livestock complexes is the feeding process, which forms 55 percent of milk productivity. There is a need to develop a wheeled robotic platform that will ensure the availability of the feed mixture along the feeding front. This platform will multi-stage saturate the bulky components of the feed mixture with concentrated ones, increasing their attractiveness to animals, while normalizing the balance of dry matter consumed and fiber obtained from bulky feeds.(Research purpose) To simulate the control system of a robotic platform with an independent electro- motorized drive.(Materials and methods) The article presents technologies for organizing animal feeding processes on the farm, conducted a technological assessment of the effectiveness of automated and robotic machines used on the farm. Authors used the Matlab/Simulink simulation environment in the research process.(Results and discussion) The article presents a developed mathematical model describing the kinematics and dynamics of the platform movement. Authors formed the assumed element base into a general model of the robot in an artificial Matlab/Simulink environment, simulating the process of moving around a circle.(Conclusions) The created mathematical model forms the basis for creating a control system for the robot under development. The device for dosing feed additives will ensure the balance of dry matter and fiber consumed.
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Yan, Lang, Xinghua Chang, Runyu Tian, Nianhua Wang, Laiping Zhang, and Wei Liu. "A numerical simulation method for bionic fish self-propelled swimming under control based on deep reinforcement learning." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 234, no. 17 (March 26, 2020): 3397–415. http://dx.doi.org/10.1177/0954406220915216.
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In order to simulate the under control self-propelled swimming of bionic fishes, a coupling method of hydrodynamics/kinematics/motion-control is presented in this paper. The Navier-Stokes equations in the arbitrary Lagrangian-Eulerian framework are solved in parallel based on the computational domain decomposition to simulate the unsteady flow field efficiently. The flow dynamics is coupled with the fish dynamics in an implicit way by a dual-time stepping approach. In order to discretize the computational domain during a wide range maneuver, an overset grid approach with a parallel implicit hole-cutting technique is adopted and coupled with morphing hybrid grids around the undulation body. The motion control of the fish swimming is realized by a deep reinforcement learning algorithm, which makes the fish model choose proper undulation manner according to a specific purpose. By adding random disturbances in the training process of fish swimming along a straight line, a simplified two-dimensional fish model obtains the ability to swim along a specific trajectory. Then in subsequent tests, the two-dimensional fish model is able to swim along more complex curves with obstacles. Finally, the starting process of a three-dimensional tuna-like model is simulated preliminarily to validate the ability of the coupling method for three-dimensional complex configurations. The numerical results demonstrate that this study could be used to explore the swimming mechanism of fishes in complex environments and to guide how robotic fishes can be controlled to accomplish their tasks.
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Vesselenyi, Tiberiu, Simona Dzițac, Ioan Dzițac, and Mișu-Jan Manolescu. "Fuzzy and Neural Controllers for a Pneumatic Actuator." International Journal of Computers Communications & Control 2, no. 4 (December 1, 2007): 375. http://dx.doi.org/10.15837/ijccc.2007.4.2368.
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There is a great diversity of ways to use fuzzy inference in robot control systems, either in the place where it is applied in the control scheme or in the form or type of inference algorithms used. On the other hand, artificial neural networks ability to simulate nonlinear systems is used in different researches in order to develop automated control systems of industrial processes. In these applications of neural networks, there are two important steps: system identification (development of neural process model) and development of control (definition of neural control structure). In this paper we present some modelling applications, which uses fuzzy and neural controllers, developed on a pneumatic actuator containing a force and a position sensor, which can be used for robotic grinding operations. Following the simulation one of the algorithms was tested on an experimental setup. The paper also presents the development of a NARMA-L2 neural controller for a pneumatic actuator using position feedback. The structure had been trained and validated, obtaining good results.
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Zhu, Carlos Ye, J. Norberto Pires, and Amin Azar. "A novel multi-brand robotic software interface for industrial additive manufacturing cells." Industrial Robot: the international journal of robotics research and application 47, no. 4 (April 13, 2020): 581–92. http://dx.doi.org/10.1108/ir-11-2019-0237.
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Purpose This study aims to report the development of a provisional robotic cell for additive manufacturing (AM) of metallic parts. To this end, the paper discusses cross-disciplinary concepts related to the development of the robotic cell and the associated command and control system such as the Computer-Aided Design (CAD) interface, the slicing software and the path planning for the robot manipulator toward printing the selected workpiece. This study also reports the development of a virtual production cell that simulates the AM toolpath generated for the desired workpiece, the adaptation of the simulation environments to enable AM and the development of a user application to setup, command and control the AM processes. If a digital twin setup is efficiently built, with a good correlation between the simulation environment and the real systems, developers may explore this functionality to significantly reduce the development cycle, which can be very long in AM applications where metallurgic properties, part distortion and other properties need to be monitored and controlled. Design/methodology/approach To generate the robot manipulator path, several simulation programs were considered, resulting in different solutions to program and control the robot of choice [in this study, Kuka and Asea Brown Boveri (ABB) robots were considered]. By integrating the solutions from Slic3r, Inventor, Kuka.Sim, Kuka.Officelite, RobotStudio and Visual Studio software packages, this study aims to develop a functional simulation system capable of producing a given workpiece. For this purpose, a graphical user interface (GUI) was designed to provide the user with a higher level of control over the entire process toward simplifying the programming and implementation events. Findings The presented solutions are compatible with the simulation environments of specific robot manufacturers, namely, ABB and Kuka, meaning that the authors aim to align the developments with most of the currently realized AM processing cells. In the long-term, the authors aim to build an AM system that implements a produce-from-CAD strategy i.e. that can be commanded directly from the CAD package used to design the part the authors are interested in. Research limitations/implications This study attempts to shed light on the industrial AM, a field that is being constantly evolved. Arguably, one of the most important aspects of an AM system is path planning for the AM operation, which must be independent of the robotic system used. This study depicts a generic implementation that can be used with several robot control systems. The paper demonstrates the principle with ABB and Kuka robots, exploiting in detail simulation environments that can be used to create digital twins of the real AM systems. This is very important in actual industrial setups, as a good correlation between the digital twins (simulation environment and real system) will enable developers to explore the AM system in not only a more efficient manner, greatly reducing the development cycle but also as a way to fully develop new solutions without stopping the real setup. In this research, a systematic review of robot systems through simulation environments was presented, aiming to emulate the logic that is, used in the production cell development, disregarding the system brand. The adopted digital twin strategy enables the authors to fully simulate, both operationally and functionality, the real AM system. For this purpose, different solutions were explored using robots from two different manufacturers and related simulation environments, illustrating a generic solution that is not bound to a certain brand. Practical implications Using specific programming tools, fully functional virtual production cells were conceived that can receive the instructions for the movements of the robot, using a transmission control protocol/internet protocol. Conversion of the CAD information into the robot path instructions for the robot was the main research question in this study. With the different simulation systems, a program that translates the CAD data into an acceptable format brings the robot closer to the automatic path planning based on CAD data. Both ABB and Kuka systems can access the CAD data, converting it to the correct robot instructions that are executed. Eventually, a functional and intuitive GUI application capable of commanding the simulation for the execution of the AM was implemented. The user can set the desired object and run a completely automatic AM process through the designated GUI. Comparing ABB simulation with the Kuka system, an important distinction can be found, namely, in the exportation of the programs. As the Kuka program runs with add-ons, the solution will not be exported while maintaining its functionality, whereas the ABB program can be integrated with a real controller because it is completely integrated with modules of the virtual controller. Originality/value To conclude, with the solutions exploited, this study reports a step forward into the development of a fully functional generic AM cell. The final objective is to implement an AM system that is, independent of any robot manufacturer brand and uses a produce-from-CAD strategy (c.f. digital manufacturing). In other words, the authors presented a system that is fully automatic, can be explored from a CAD package and, consequently, can be used by any CAD designer, without specific knowledge of robotics, materials and AM systems.
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Anggraini, Lydia, and Ardhi Bebi Laksono. "PEMODELAN DAN ANALISA STRUKTUR MEKANIKA PADA KONTROL SISTEM ADAPTIF END EFFECTOR DENGAN DYNAMIXEL AX-18A MOTOR SERVO." Journal of Mechanical Engineering and Mechatronics 3, no. 1 (January 18, 2019): 1. http://dx.doi.org/10.33021/jmem.v3i1.532.
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<p>The main objective of this project is to make a descriptive contribution to the understanding of adaptive end-effector design combined with servo motors. The simulation and design of this tool is located at the end of the robotic arm, which is one of the most researched topics in the world of robotics and the automation industry. End-effector is a design system in an automation process that must take into account the many possibilities of statics and mechanical responses in the development of facing intense competition in the industrial world. To determine the enhancements on a robot, the end-effector will be designed taking into account the various possibilities that occur in various variations on the workpiece response, so that it can simulate various levels of friction and pressure as well as the effects of end-effector contacts with various objects. This thesis introduces an integrated design process for the design of two-finger Gripper using simulation. To facilitate the integrated design of the Gripper, the author uses Matlab R2015a software<br />/ Simulink (SimMechanics) and Inventor as a 3D Cad Model. The Servo motor that will be used here is a type of Dynamixel AX-18A servo motor which has a speed of 97RPM and Torque of 1.8 N.m with a 12Volt voltage. To deal with the industrial revolution 4.0, design and design such as this tool will help in the process of improvisation as technology is growing rapidly in the hope of minimizing excessive costs when making improvements. From this thesis can be seen the power response, torque, speed, power in, power out, efficiency and current. When a case requires certain specifications, then with this calculation it can easily solve the problem simply by replacing the motors that are in accordance with the desired specifications.</p>
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Byvaltsev, Vadim A., Serik K. Akshulakov, Roman A. Polkin, Sergey V. Ochkal, Ivan A. Stepanov, Yerbol T. Makhambetov, Talgat T. Kerimbayev, Michael Staren, Evgenii Belykh, and Mark C. Preul. "Microvascular Anastomosis Training in Neurosurgery: A Review." Minimally Invasive Surgery 2018 (2018): 1–9. http://dx.doi.org/10.1155/2018/6130286.
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Cerebrovascular diseases are among the most widespread diseases in the world, which largely determine the structure of morbidity and mortality rates. Microvascular anastomosis techniques are important for revascularization surgeries on brachiocephalic and carotid arteries and complex cerebral aneurysms and even during resection of brain tumors that obstruct major cerebral arteries. Training in microvascular surgery became even more difficult with less case exposure and growth of the use of endovascular techniques. In this text we will briefly discuss the history of microvascular surgery, review current literature on simulation models with the emphasis on their merits and shortcomings, and describe the views and opinions on the future of the microvascular training in neurosurgery. In “dry” microsurgical training, various models created from artificial materials that simulate biological tissues are used. The next stage in training more experienced surgeons is to work with nonliving tissue models. Microvascular training using live models is considered to be the most relevant due to presence of the blood flow. Training on laboratory animals has high indicators of face and constructive validity. One of the future directions in the development of microsurgical techniques is the use of robotic systems. Robotic systems may play a role in teaching future generations of microsurgeons. Modern technologies allow access to highly accurate learning environments that are extremely similar to real environment. Additionally, assessment of microsurgical skills should become a fundamental part of the current evaluation of competence within a microneurosurgical training program. Such an assessment tool could be utilized to ensure a constant level of surgical competence within the recertification process. It is important that this evaluation be based on validated models.
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MOHAN, VISHWANATHAN, and PIETRO MORASSO. "TOWARDS REASONING AND COORDINATING ACTION IN THE MENTAL SPACE." International Journal of Neural Systems 17, no. 04 (August 2007): 329–41. http://dx.doi.org/10.1142/s0129065707001172.
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Unlike a purely reactive system where the motor output is exclusively controlled by the actual sensory input, a cognitive system must be capable of running mental processes which virtually simulate action sequences aimed at achieving a goal. The mental process either attempts to find a feasible course of action compatible with a number of constraints (Internal, Environmental, Task Specific etc) or selects it from a repertoire of previously learned actions, according to the parameters of the task. If neither reasoning process succeeds, a typical backup strategy is to look for a tool that might allow the operator to match all the task constraints. This further necessitates having the capability to alter ones own goal structures to generate sub-goals which must be successfully accomplished in order to achieve the primary goal. In this paper, we introduce a forward/inverse motor control architecture (FMC/IMC) that relaxes an internal model of the overall kinematic chain to a virtual force field applied to the end effector, in the intended direction of movement. This is analogous to the mechanism of coordinating the motion of a wooden marionette by means of attached strings. The relaxation of the FMC/IMC pair provides a general solution for mentally simulating an action of reaching a target position taking into consideration a range of geometric constraints (range of motion in the joint space, internal and external constraints in the workspace) as well as effort-related constraints (range of torque of the actuators, etc.). In case, the forward simulation is successful, the movement is executed; otherwise the residual "error" or measure of inconsistency is taken as a starting point for breaking the action plan into a sequence of sub actions. This process is achieved using a recurrent neural network (RNN) which coordinates the overall reasoning process of framing and issuing goals to the forward inverse models, searching for alternatives tools in solution space and formation of sub-goals based on past context knowledge and present inputs. The RNN + FMC/IMC system is able to successfully reason and coordinate a diverse range of reaching and grasping sequences with/without tools. Using a simple robotic platform (5 DOF Scorbot arm + Stereo vision) we present results of reasoning and coordination of arm/tool movements (real and mental simulation) specifically directed towards solving the classical 2-stick paradigm from animal reasoning at a non linguistic level.
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Esperto, Vitantonio, Antonio Gambardella, Germana Pasquino, Fausto Tucci, Massimo Durante, and Pierpaolo Carlone. "Modeling and Simulation of the Robotic Layup of Fibrous Preforms for Liquid Composite Molding." ESAFORM 2021, April 8, 2021. http://dx.doi.org/10.25518/esaform21.475.
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In recent years, the concepts of industry 4.0 are widely spreading in many different sectors, from agriculture to home automation, from transportation systems to manufacturing processes. One of the pillars of this concept is related to the use of robotic cells. The focus of the present work is the robotic automated layup of dry fibrous preforms to be employed in liquid composite molding (LCM) processes. In particular, the article describes a software tool developed to simulate the automated placement and layup of fiber fabrics and tissues on complex shape molds by means of a robotic system. The tool has been coded in Matlab language. An end-effector has been appositely designed for the fiber layup and it has been included in the model. The simulation provides as output the path generation and the configuration of the robotic arm and of end effector along the entire layup process. The implemented code has been compared with the commercial software RoboDK.
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APOSTOLESCU, Nicolae, Tom SAVU, Dragos Daniel Ion GUTA, and Achim IONITA. "Industrial Robotics for Spacecraft Rendezvous and Docking Simulation." INCAS BULLETIN, December 8, 2019, 27–36. http://dx.doi.org/10.13111/2066-8201.2019.11.4.3.
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It is to be expected that space robotics systems will develop more and more in the future spatial applications. One of the most challenging and risky missions for spacecraft is to perform autonomously Rendezvous and Docking (RvD) in space. This paper describes a hardware-in-the-loop RvD simulation facility which uses two ABB industrial robots to simulate the 6-DOF dynamic manoeuvring of the rendezvous process. Firstly, we also simulate the real robots and we deduce the kinematic and dynamic equations of space robotic system, then the trajectory is planned. The target motion is reduced only to the movement of the end-effector, but the chaser’s motion is based on the plan which solves the inverse kinematic equations, considering the movement limitations of the joints. Finally, a 3D simulation system was developed to evaluate the proposed method using Matlab/ Simulink environment. Simulation results verified the corresponding method and algorithms.
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Dakdouk, David, and Fengfeng Xi. "Tool Accessibility Analysis for Robotic Drilling and Fastening." Journal of Manufacturing Science and Engineering 139, no. 9 (July 17, 2017). http://dx.doi.org/10.1115/1.4036639.
Full textAbstract:
Robotic applications in aerospace manufacturing and aircraft assembly today are limited. This is because most of the aircraft parts are relatively crowded and have complex shapes that make tasks like robotic drilling and fastening more challenging. These challenges include tool accessibility, path, and motion planning. In this paper, a process methodology was developed to overcome the tool accessibility challenges facing robotic drilling and riveting for aircraft parts that are located in crowded work environments. First, the tool accessibility was analyzed based on the global accessibility area (GAA) and the global accessibility volume (GAV) to determine the accessible boundaries for parts with zero, one, and two surfaces curvatures. Then, the path for the tool was generated while taking in consideration the approachability planning. This approach generates a number of intermediate points that enable the tool to maneuver around obstacles to reach the final target points if they are accessible. Last, a software application was developed to simulate the drilling and riveting tasks, and to validate the proposed process. The results of the simulation confirmed the proposed methodology and provided a numerical feedback describing the level of crowdedness of the work environment. The accessibility percentage can then be used by the design team to reduce the design complexity and increase the level of tool accessibility.
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Jeong, Useok, Keunsu Kim, Sang-Hun Kim, Hyunhee Choi, Byeng Dong Youn, and Kyu-Jin Cho. "Reliability analysis of a tendon-driven actuation for soft robots." International Journal of Robotics Research, March 13, 2020, 027836492090715. http://dx.doi.org/10.1177/0278364920907151.
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The reliability of soft robotic devices will be the bottleneck that slows their commercialization. In particular, fatigue failure issues are a major concern. Thus, reliability should be taken into account from the earliest stages of development. However, to date, there have been no attempts to analyze the reliability of soft robotic devices in a systematic manner. When soft robots are employed to force transmission applications, reliability is typically a dominant issue, since soft robotic structures are constructed with soft material components; these materials have highly nonlinear properties that arise due to the large distribution in the material properties. Furthermore, reliability should be analyzed from the robot’s system down to the components using domain knowledge about the system; this requires a systematic approach. This study presents a framework for reliability analysis of soft robotic devices taking into account a probability distribution that has not been considered before and examines a case study of a tendon-driven soft robot. This study focuses specifically on the (a) concept design process, (b) lifetime analysis process, and (c) design and optimization process. A life model that considers distribution is proposed using accelerated life testing based on analysis of the failure mechanism of the tendon-driven system. The tensile stress of the wire was varied during the experiment with different bend angles and output tension. The result was validated with different stress levels using a testbed to simulate an actual application. The proposed reliability analysis methodology could be applied to other soft robotic systems, such as pneumatic actuators, to improve the reliability-related properties during the robot design stage, and the life model can be used to estimate the device lifetime under various stress conditions.
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Pires, J. Norberto, and Carlos Ye Zhu. "From CAD design to robot models and simulation tools. Test-case example using the Kassow 810 collaborative robot." Industrial Robot: the international journal of robotics research and application ahead-of-print, ahead-of-print (July 14, 2021). http://dx.doi.org/10.1108/ir-02-2021-0044.
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Purpose This paper aims to introduce, in a tutorial form, a collection of procedures, tools and applications that can be used to explore robotics fundamentals and automatically generate kinematic and dynamic models from computer-aided design (CAD) packages, to create representations of the robot manipulator understudy so that a user can generate trajectories and to simulate and visualize the robot motion using several programming, simulation and developing tools. In this paper, the authors are particularly interested in advanced three-dimensional design packages such as Inventor and SolidWorks, interactive mathematical and simulation environments such as Matlab, Simulink, Simscape Multibody and Robot Operating System, and several application development languages such as C# and Python. A few of them will be used throughout the paper in a collection of examples that use the new Kassow 810 collaborative robot as a test-case demonstration. In the process, the authors expect readers to fully understand how to use all these tools to other machines and to their own designs. Design/methodology/approach Consequently, the paper follows a step-by-step practical procedure, fully tested and explained using the already mentioned state-of-the-art collaborative robot, guiding the reader from the design, modeling, simulation and application development phases, which may be applied to other machines and robotic designs. Findings The results clearly show that the procedure of starting from a CAD design to generate the kinematic and dynamic models of a robot manipulator create representations of the robot, generate trajectories and simulate/visualize the robot motion is feasible and accessible to a general user (using standard tools). Research limitations/implications Although the paper uses a few particular software packages, the concepts and kept general, which means that they can be used with other equivalent tools. With that objective in mind, the paper introduces the basic robotics concepts involved, further increasing in this way its tutorial structure. Originality/value Consequently, the presented procedure has the inherent value of introducing robotics fundamentals in a practical way, but also of demonstrating how readers can build and explore advanced robotic designs using common design, simulation and programming tools.