Strategy for robot motion and path planning in robot taping

Covering objects with masking tapes is a common process for surface protection in processes like spray painting, plasma spraying, shot peening, etc. Manual taping is tedious and takes a lot of effort of the workers. The taping process is a special process which requires correct surface covering stra...

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Main Authors: Yuan, Qilong, Chen, I-Ming, Lembono, Teguh Santoso, Landén, Simon Nelson, Malmgren, Victor
Other Authors: School of Mechanical and Aerospace Engineering
Format: Article
Language:English
Published: 2016
Subjects:
Online Access:https://hdl.handle.net/10356/84721
http://hdl.handle.net/10220/41930
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Institution: Nanyang Technological University
Language: English
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spelling sg-ntu-dr.10356-847212023-03-04T17:15:51Z Strategy for robot motion and path planning in robot taping Yuan, Qilong Chen, I-Ming Lembono, Teguh Santoso Landén, Simon Nelson Malmgren, Victor School of Mechanical and Aerospace Engineering Robot taping Path planning Covering objects with masking tapes is a common process for surface protection in processes like spray painting, plasma spraying, shot peening, etc. Manual taping is tedious and takes a lot of effort of the workers. The taping process is a special process which requires correct surface covering strategy and proper attachment of the masking tape for an efficient surface protection. We have introduced an automatic robot taping system consisting of a robot manipulator, a rotating platform, a 3D scanner and specially designed taping end-effectors. This paper mainly talks about the surface covering strategies for different classes of geometries. The methods and corresponding taping tools are introduced for taping of following classes of surfaces: Cylindrical/extended surfaces, freeform surfaces with no grooves, surfaces with grooves, and rotational symmetrical surfaces. A collision avoidance algorithm is introduced for the robot taping manipulation. With further improvements on segmenting surfaces of taping parts and tape cutting mechanisms, such taping solution with the taping tool and the taping methodology can be combined as a very useful and practical taping package to assist humans in this tedious and time costly work. ASTAR (Agency for Sci., Tech. and Research, S’pore) Accepted version 2016-12-22T07:41:18Z 2019-12-06T15:50:13Z 2016-12-22T07:41:18Z 2019-12-06T15:50:13Z 2016 Journal Article Yuan, Q., Chen, I. M., Lembono, T. S., Landén, S. N., & Malmgren, V. (2016). Strategy for robot motion and path planning in robot taping. Frontiers of Mechanical Engineering, 11(2), 195-203. 2095-0233 https://hdl.handle.net/10356/84721 http://hdl.handle.net/10220/41930 10.1007/s11465-016-0390-1 en Frontiers of Mechanical Engineering © 2016 Higher Education Press and Springer-Verlag Berlin Heidelberg. This is the author created version of a work that has been peer reviewed and accepted for publication by Frontiers of Mechanical Engineering, Higher Education Press and Springer-Verlag Berlin Heidelberg. It incorporates referee’s comments but changes resulting from the publishing process, such as copyediting, structural formatting, may not be reflected in this document. The published version is available at: [http://dx.doi.org/10.1007/s11465-016-0390-1]. 11 p. application/pdf
institution Nanyang Technological University
building NTU Library
continent Asia
country Singapore
Singapore
content_provider NTU Library
collection DR-NTU
language English
topic Robot taping
Path planning
spellingShingle Robot taping
Path planning
Yuan, Qilong
Chen, I-Ming
Lembono, Teguh Santoso
Landén, Simon Nelson
Malmgren, Victor
Strategy for robot motion and path planning in robot taping
description Covering objects with masking tapes is a common process for surface protection in processes like spray painting, plasma spraying, shot peening, etc. Manual taping is tedious and takes a lot of effort of the workers. The taping process is a special process which requires correct surface covering strategy and proper attachment of the masking tape for an efficient surface protection. We have introduced an automatic robot taping system consisting of a robot manipulator, a rotating platform, a 3D scanner and specially designed taping end-effectors. This paper mainly talks about the surface covering strategies for different classes of geometries. The methods and corresponding taping tools are introduced for taping of following classes of surfaces: Cylindrical/extended surfaces, freeform surfaces with no grooves, surfaces with grooves, and rotational symmetrical surfaces. A collision avoidance algorithm is introduced for the robot taping manipulation. With further improvements on segmenting surfaces of taping parts and tape cutting mechanisms, such taping solution with the taping tool and the taping methodology can be combined as a very useful and practical taping package to assist humans in this tedious and time costly work.
author2 School of Mechanical and Aerospace Engineering
author_facet School of Mechanical and Aerospace Engineering
Yuan, Qilong
Chen, I-Ming
Lembono, Teguh Santoso
Landén, Simon Nelson
Malmgren, Victor
format Article
author Yuan, Qilong
Chen, I-Ming
Lembono, Teguh Santoso
Landén, Simon Nelson
Malmgren, Victor
author_sort Yuan, Qilong
title Strategy for robot motion and path planning in robot taping
title_short Strategy for robot motion and path planning in robot taping
title_full Strategy for robot motion and path planning in robot taping
title_fullStr Strategy for robot motion and path planning in robot taping
title_full_unstemmed Strategy for robot motion and path planning in robot taping
title_sort strategy for robot motion and path planning in robot taping
publishDate 2016
url https://hdl.handle.net/10356/84721
http://hdl.handle.net/10220/41930
_version_ 1759853392785571840