Frontiers of Mechanical Engineering >

2016 , Vol. 11 >Issue 2: 195 - 203

DOI: https://doi.org/10.1007/s11465-016-0390-1

RESEARCH ARTICLE

Strategy for robot motion and path planning in robot taping

  • Qilong YUAN 1 ,
  • I-Ming CHEN , 1 ,
  • Teguh Santoso LEMBONO 1 ,
  • Simon Nelson LANDÉN 2 ,
  • Victor MALMGREN 2
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  • 1. School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore
  • 2. School of Industrial Engineering and Management, KTH Royal Institute of Technology, Sweden

Received date: 23 Mar 2016

Accepted date: 05 May 2016

Published date: 29 Jun 2016

Copyright

2016 Higher Education Press and Springer-Verlag Berlin Heidelberg
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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.

Key words： robot taping; path planning; robot manipulation; 3D scanning

Cite this article

Qilong YUAN , I-Ming CHEN , Teguh Santoso LEMBONO , Simon Nelson LANDÉN , Victor MALMGREN . Strategy for robot motion and path planning in robot taping[J]. Frontiers of Mechanical Engineering, 2016 , 11(2) : 195 -203 . DOI: 10.1007/s11465-016-0390-1

Acknowledgment

This work was supported in part by the Agency for Science, Technology and Research, Singapore, under SERC Grant 12251 00005.

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