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Frontiers of Mechanical Engineering

Front. Mech. Eng.    2016, Vol. 11 Issue (2) : 195-203     https://doi.org/10.1007/s11465-016-0390-1
RESEARCH ARTICLE |
Strategy for robot motion and path planning in robot taping
Qilong YUAN1,I-Ming CHEN1,*(),Teguh Santoso LEMBONO1,Simon Nelson LANDÉN2,Victor MALMGREN2
1. School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore
2. School of Industrial Engineering and Management, KTH Royal Institute of Technology, Sweden
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Abstract

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.

Keywords robot taping      path planning      robot manipulation      3D scanning     
Corresponding Authors: I-Ming CHEN   
Online First Date: 24 May 2016    Issue Date: 29 June 2016
 Cite this article:   
Qilong YUAN,I-Ming CHEN,Teguh Santoso LEMBONO, et al. Strategy for robot motion and path planning in robot taping[J]. Front. Mech. Eng., 2016, 11(2): 195-203.
 URL:  
http://journal.hep.com.cn/fme/EN/10.1007/s11465-016-0390-1
http://journal.hep.com.cn/fme/EN/Y2016/V11/I2/195
Fig.1  Manual taping
Fig.2  Surface segmentation
Fig.3  (a) The IVC-3D SICK scanner; (b) scanning model from the scanner
Fig.4  Illustration of cylindrical shape taping
Fig.5  Area of interest for taping
Fig.6  3D surface model for taping. (a) Tape coordinates definition; (b) the displacement of tape elements while taping
Fig.7  Flipping of the tape element while taping
Fig.8  Illustration on taping of groove features. (a) Actual setup; (b) digital model
Fig.9  Collision map for the workpiece
Inputs:1. Collision map of workspaceMesh format Z= Mesh(X,Y);2. Defining collision boundary lines of the tool;3. The posture of the tool on top of the workpiece.
(For each boundary line segment li, pick the points of n-section of the line segment, { l s 1 , l s 2 , l s 3 , ... , l s m } and check if any of them are outside the collision boundary.)Bool collision=False;While i<nGenerate the points of n-section of the line segment li { l s 1 , l s 2 , l s 3 , ... , l s m } ; For j=1, 2, 3,..,m, do If l s j ( 3 ) < Z ( l s j ( 1 ) , l s j ( 2 ) ) {Collision=True; return;} (The points on the tool boundary should be above the workpiece) EndEnd
Tab.1  
Fig.10  Taping tool boundary line model on the workpiece model
Fig.11  Taping path with no collision
Fig.12  Taping rotational symmetrical surfaces
Fig.13  An automatic taping system
Fig.14  Taping tool design. (a) Tool for surfaces without grooves; (b) tool for groove surfaces
Fig.15  Taping process of the automatic robot taping system: (a) Taping of cylindrical-like surfaces; (b) taping of freeform surfaces; (c) taping of grooved surfaces
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