Design and characterization of an instrumented hand-held power tool to capture dynamic interaction with the workpiece during manual operations

In recent years, robots have contributed extensively to the automation of repetitive tasks for which position control-based approaches represent effective solutions. However, other contact tasks such as finishing, deburring and grinding require both position and force control. To date, despite the a...

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Main Authors: Phan, Gia-Hoang, Hansen, Clint, Tommasino, Paolo, Hussain, Asif, Campolo, Domenico
Other Authors: School of Mechanical and Aerospace Engineering
Format: Article
Language:English
Published: 2022
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Online Access:https://hdl.handle.net/10356/155151
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Institution: Nanyang Technological University
Language: English
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spelling sg-ntu-dr.10356-1551512022-02-14T07:27:32Z Design and characterization of an instrumented hand-held power tool to capture dynamic interaction with the workpiece during manual operations Phan, Gia-Hoang Hansen, Clint Tommasino, Paolo Hussain, Asif Campolo, Domenico School of Mechanical and Aerospace Engineering Robotics Research Centre Engineering::Mechanical engineering Robotics Instrumented Tool In recent years, robots have contributed extensively to the automation of repetitive tasks for which position control-based approaches represent effective solutions. However, other contact tasks such as finishing, deburring and grinding require both position and force control. To date, despite the availability of cost-effective robotic solutions, such tasks are still carried out manually by skilled operators mainly because programming is time consuming and not sufficiently flexible to be readapted to product or task changes. An alternative approach is teaching by demonstration, by instrumenting hand-held tools for capturing both the force and the contact point while an expert operator performs tooling tasks. This paper presents a novel approach for instrumenting hand-held tools for polishing/grinding used in monitoring the performance of skilled human operators which can be, in future work, translated into planning strategies for robot programming and control. More specifically, the instrumented tool is designed to monitor interaction forces with the workpiece and point of contact, where these interaction forces arise. The key element in our design is a flexible coupler which, ideally, only transmits rotation torques to spin the polishing/grinding wheel while all the remaining torque and force components are transmitted through a parallel structure and sensed by a 6-axis loadcell. Sensing torques, in addition to forces, also allows for a dynamic estimation of the point of contact. Ministry of Education (MOE) This research is funded by Ho Chi Minh City University of Technology (HCMUT), VNUHCM under grant number HCMUT - 003967 - 2020. This work was partly sponsored by the Tier 1 project (RG 48/17), MOE, Singapore. 2022-02-14T07:27:32Z 2022-02-14T07:27:32Z 2020 Journal Article Phan, G., Hansen, C., Tommasino, P., Hussain, A. & Campolo, D. (2020). Design and characterization of an instrumented hand-held power tool to capture dynamic interaction with the workpiece during manual operations. International Journal of Advanced Manufacturing Technology, 111(1-2), 199-212. https://dx.doi.org/10.1007/s00170-020-06066-3 0268-3768 https://hdl.handle.net/10356/155151 10.1007/s00170-020-06066-3 2-s2.0-85091499704 1-2 111 199 212 en RG 48/17 International Journal of Advanced Manufacturing Technology © 2020 Springer-Verlag London Ltd., part of Springer Nature. All rights reserved.
institution Nanyang Technological University
building NTU Library
continent Asia
country Singapore
Singapore
content_provider NTU Library
collection DR-NTU
language English
topic Engineering::Mechanical engineering
Robotics
Instrumented Tool
spellingShingle Engineering::Mechanical engineering
Robotics
Instrumented Tool
Phan, Gia-Hoang
Hansen, Clint
Tommasino, Paolo
Hussain, Asif
Campolo, Domenico
Design and characterization of an instrumented hand-held power tool to capture dynamic interaction with the workpiece during manual operations
description In recent years, robots have contributed extensively to the automation of repetitive tasks for which position control-based approaches represent effective solutions. However, other contact tasks such as finishing, deburring and grinding require both position and force control. To date, despite the availability of cost-effective robotic solutions, such tasks are still carried out manually by skilled operators mainly because programming is time consuming and not sufficiently flexible to be readapted to product or task changes. An alternative approach is teaching by demonstration, by instrumenting hand-held tools for capturing both the force and the contact point while an expert operator performs tooling tasks. This paper presents a novel approach for instrumenting hand-held tools for polishing/grinding used in monitoring the performance of skilled human operators which can be, in future work, translated into planning strategies for robot programming and control. More specifically, the instrumented tool is designed to monitor interaction forces with the workpiece and point of contact, where these interaction forces arise. The key element in our design is a flexible coupler which, ideally, only transmits rotation torques to spin the polishing/grinding wheel while all the remaining torque and force components are transmitted through a parallel structure and sensed by a 6-axis loadcell. Sensing torques, in addition to forces, also allows for a dynamic estimation of the point of contact.
author2 School of Mechanical and Aerospace Engineering
author_facet School of Mechanical and Aerospace Engineering
Phan, Gia-Hoang
Hansen, Clint
Tommasino, Paolo
Hussain, Asif
Campolo, Domenico
format Article
author Phan, Gia-Hoang
Hansen, Clint
Tommasino, Paolo
Hussain, Asif
Campolo, Domenico
author_sort Phan, Gia-Hoang
title Design and characterization of an instrumented hand-held power tool to capture dynamic interaction with the workpiece during manual operations
title_short Design and characterization of an instrumented hand-held power tool to capture dynamic interaction with the workpiece during manual operations
title_full Design and characterization of an instrumented hand-held power tool to capture dynamic interaction with the workpiece during manual operations
title_fullStr Design and characterization of an instrumented hand-held power tool to capture dynamic interaction with the workpiece during manual operations
title_full_unstemmed Design and characterization of an instrumented hand-held power tool to capture dynamic interaction with the workpiece during manual operations
title_sort design and characterization of an instrumented hand-held power tool to capture dynamic interaction with the workpiece during manual operations
publishDate 2022
url https://hdl.handle.net/10356/155151
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