Pub Date : 2007-07-22DOI: 10.1109/ISAM.2007.4288472
P. Tang, J. Xiao
Information of high-level, topological contact states is useful for robotic assembly in the presence of uncertainty. All possible contact states in the process of an assembly operation due to uncertainty can be described in a contact state graph for assembly. This paper addresses how to represent concisely and generate automatically such a graph between general curved objects, which may include curved or planar surfaces. The approach has been implemented, and the implemented examples demonstrate the effectiveness of the approach.
{"title":"Automatic Generation of A High-level Contact State Graph for Assembly between Curved Objects","authors":"P. Tang, J. Xiao","doi":"10.1109/ISAM.2007.4288472","DOIUrl":"https://doi.org/10.1109/ISAM.2007.4288472","url":null,"abstract":"Information of high-level, topological contact states is useful for robotic assembly in the presence of uncertainty. All possible contact states in the process of an assembly operation due to uncertainty can be described in a contact state graph for assembly. This paper addresses how to represent concisely and generate automatically such a graph between general curved objects, which may include curved or planar surfaces. The approach has been implemented, and the implemented examples demonstrate the effectiveness of the approach.","PeriodicalId":166385,"journal":{"name":"2007 IEEE International Symposium on Assembly and Manufacturing","volume":"45 5","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-07-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120921688","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-07-22DOI: 10.1109/ISAM.2007.4288460
S. Naka, E. Aoyama, T. Hirogaki, Y. Onchi, K. Ogawa
One of the goals of this study is to obtain nano-mirror surfaces on SUJ2 (J IS) hardened steel. We clarified the causes of drop-out of abrasive grains that increase surface finish (roughness), paying attention to the crossing angle between abrasive grain paths. We have developed an ultra-low-pressure method for obtaining a finer finish in super-finishing using vitrified bonded cubic boron nitride (cBN) abrasive stones. This is a finer finish with very little or no stock removal, less than ordinarily occurs in a conventional process using aluminum oxide or silicon carbide stones. We have fabricated a prototype super-finishing machine that provides stable ultra-low pressures by means of an air slide. Super-finishing was attempted using ultra-low pressures (less than 0.1 MPa) with cBN abrasives averaging less than 8 mum in diameter. As a result, super-finishing with a processing pressure of 0.02 MPa could be achieved using fine-grit cBN. The study demonstrated that a surface finish on the nano-order can be obtained under ultra-low-pressure conditions.
{"title":"Super-finishing Using Fine cBN Stone to Achieve Nano-mirror Surfaces on Hardened Steel","authors":"S. Naka, E. Aoyama, T. Hirogaki, Y. Onchi, K. Ogawa","doi":"10.1109/ISAM.2007.4288460","DOIUrl":"https://doi.org/10.1109/ISAM.2007.4288460","url":null,"abstract":"One of the goals of this study is to obtain nano-mirror surfaces on SUJ2 (J IS) hardened steel. We clarified the causes of drop-out of abrasive grains that increase surface finish (roughness), paying attention to the crossing angle between abrasive grain paths. We have developed an ultra-low-pressure method for obtaining a finer finish in super-finishing using vitrified bonded cubic boron nitride (cBN) abrasive stones. This is a finer finish with very little or no stock removal, less than ordinarily occurs in a conventional process using aluminum oxide or silicon carbide stones. We have fabricated a prototype super-finishing machine that provides stable ultra-low pressures by means of an air slide. Super-finishing was attempted using ultra-low pressures (less than 0.1 MPa) with cBN abrasives averaging less than 8 mum in diameter. As a result, super-finishing with a processing pressure of 0.02 MPa could be achieved using fine-grit cBN. The study demonstrated that a surface finish on the nano-order can be obtained under ultra-low-pressure conditions.","PeriodicalId":166385,"journal":{"name":"2007 IEEE International Symposium on Assembly and Manufacturing","volume":"257 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-07-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122838274","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-07-22DOI: 10.1109/ISAM.2007.4288474
D. Fratila, W. Palfinger, S. Bou, A. Almansa, W. Mann, C. Wogerer
Adhesive dispensing - transferring of correct quantity of adhesive to the correct locations on the substrate and ensuring the adhesive remains in location until hardened - is a key process in adhesive bonding. Single part adhesive can be applied directly. Multi-component adhesives need to be mixed either before or during application. The methods and degree of advanced technology employed vary considerably between industry and applications. In lower volume and craft based industries the adhesive is often applied manually directly from a cartridge (e.g. using a sealant gun, or using a tool) to transfer and place the adhesive. In other industries (e.g. packaging or automotive) automated dispensing is more common. Electronics provides one of the most challenging tasks for adhesive dispensing-small components must be bonded precisely in position at high production rates. Dispensing technology in the electronics industry is being developed to meet this need [DUN 03].
{"title":"A Method for Measurement and Characterization of Microdispensing Process","authors":"D. Fratila, W. Palfinger, S. Bou, A. Almansa, W. Mann, C. Wogerer","doi":"10.1109/ISAM.2007.4288474","DOIUrl":"https://doi.org/10.1109/ISAM.2007.4288474","url":null,"abstract":"Adhesive dispensing - transferring of correct quantity of adhesive to the correct locations on the substrate and ensuring the adhesive remains in location until hardened - is a key process in adhesive bonding. Single part adhesive can be applied directly. Multi-component adhesives need to be mixed either before or during application. The methods and degree of advanced technology employed vary considerably between industry and applications. In lower volume and craft based industries the adhesive is often applied manually directly from a cartridge (e.g. using a sealant gun, or using a tool) to transfer and place the adhesive. In other industries (e.g. packaging or automotive) automated dispensing is more common. Electronics provides one of the most challenging tasks for adhesive dispensing-small components must be bonded precisely in position at high production rates. Dispensing technology in the electronics industry is being developed to meet this need [DUN 03].","PeriodicalId":166385,"journal":{"name":"2007 IEEE International Symposium on Assembly and Manufacturing","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-07-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114745595","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-07-22DOI: 10.1109/isam.2007.4288471
M. Roa, R. Suárez
This paper deals with the problem of determining independent contact regions on a 3D object boundary such that a seven finger frictionless grasp with a contact point in each region assures a force-closure grasp on the object, independently of the exact position of the contact points. These regions provide robustness in front of finger positioning errors in grasp and fixture applications. The object's surface is discretized in a cloud of points, so the procedure is applicable to objects of any arbitrary shape. The procedure finds an initial force-closure grasp that is iteratively improved through an oriented search procedure; once a locally optimum grasp has been reached, the independent contact regions are computed. The procedure has been implemented and application examples are included in the paper.
{"title":"Determination of Independent Contact Regions on Discretized 3D Objects","authors":"M. Roa, R. Suárez","doi":"10.1109/isam.2007.4288471","DOIUrl":"https://doi.org/10.1109/isam.2007.4288471","url":null,"abstract":"This paper deals with the problem of determining independent contact regions on a 3D object boundary such that a seven finger frictionless grasp with a contact point in each region assures a force-closure grasp on the object, independently of the exact position of the contact points. These regions provide robustness in front of finger positioning errors in grasp and fixture applications. The object's surface is discretized in a cloud of points, so the procedure is applicable to objects of any arbitrary shape. The procedure finds an initial force-closure grasp that is iteratively improved through an oriented search procedure; once a locally optimum grasp has been reached, the independent contact regions are computed. The procedure has been implemented and application examples are included in the paper.","PeriodicalId":166385,"journal":{"name":"2007 IEEE International Symposium on Assembly and Manufacturing","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-07-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132867316","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-07-22DOI: 10.1109/ISAM.2007.4288462
P. Goede, Paul Verstegen, J.M.M. van Gastel
In this paper a novel concept to increase the output of a component Pick and Place machine is described. A component shuttle that carries components is used to reduce the distance from pick to place location and hence travel time is reduced. First design considerations and specifications are discussed. A prototype was built and test results will be discussed.
{"title":"Design of a shuttle used in an innovative pick and place machine concept","authors":"P. Goede, Paul Verstegen, J.M.M. van Gastel","doi":"10.1109/ISAM.2007.4288462","DOIUrl":"https://doi.org/10.1109/ISAM.2007.4288462","url":null,"abstract":"In this paper a novel concept to increase the output of a component Pick and Place machine is described. A component shuttle that carries components is used to reduce the distance from pick to place location and hence travel time is reduced. First design considerations and specifications are discussed. A prototype was built and test results will be discussed.","PeriodicalId":166385,"journal":{"name":"2007 IEEE International Symposium on Assembly and Manufacturing","volume":"18 1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-07-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134255601","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-07-22DOI: 10.1109/ISAM.2007.4288476
M. Vitard, S. Régnier, P. Lambert
The theoretical study presented in this paper aims at proposing two capillary forces models related to manipulation of cylindrical and prismatic components. The underlying application framework is related to the objectives of the European NanoRAC project, which are the manipulation and characterization of nanocomponents such as nanotubes or nanowires. The analytical equivalence of Laplace and energetical method in the case of prism/plane interaction has been demonstrated, and then applied numerically to the cylinder/plane interaction. First experiments at millimeter scale on cylinders are introduced.
{"title":"Study of cylinder/plan capillary force near millimeter scale and experimental validation","authors":"M. Vitard, S. Régnier, P. Lambert","doi":"10.1109/ISAM.2007.4288476","DOIUrl":"https://doi.org/10.1109/ISAM.2007.4288476","url":null,"abstract":"The theoretical study presented in this paper aims at proposing two capillary forces models related to manipulation of cylindrical and prismatic components. The underlying application framework is related to the objectives of the European NanoRAC project, which are the manipulation and characterization of nanocomponents such as nanotubes or nanowires. The analytical equivalence of Laplace and energetical method in the case of prism/plane interaction has been demonstrated, and then applied numerically to the cylinder/plane interaction. First experiments at millimeter scale on cylinders are introduced.","PeriodicalId":166385,"journal":{"name":"2007 IEEE International Symposium on Assembly and Manufacturing","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-07-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116279387","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-07-22DOI: 10.1109/ISAM.2007.4288451
S. Tumkor, Göksel Senol
Increasingly tough regulations and voluntary initiatives for the environment have pressured manufacturers to be more responsible for the end-of-life (EOL) treatments of their products. The industry has started to realize the importance of the sustainable products, which is only possible through the closed loop of the product life cycle. In order to establish an efficient closed loop of the product life cycle, mostly disassembly is necessary. One of the important issues of design for disassembly (DfD) is to evaluate ease of disassembly steps, so that designer can make decisions about sequences and level of disassembly. EOL Disassembly decisions are influenced by accessibility of the components, EOL options of the material, the environmental impact of the components and processes, the disassembly time, and the net benefit from the EOL recovery. Designers shall not to be assumed to be DfD experts. Therefore some software tools to support designer to generate disassembly sequences, which can be used for evaluating the ease of disassembly have been developed. In this paper, the systematical search approach for disassembly precedence graph, the environmental impact and the cost calculation algorithm, which has been used in the EOL Recovery Information System (ERIS) are presented.
{"title":"Disassembly Precedence Graph Generation","authors":"S. Tumkor, Göksel Senol","doi":"10.1109/ISAM.2007.4288451","DOIUrl":"https://doi.org/10.1109/ISAM.2007.4288451","url":null,"abstract":"Increasingly tough regulations and voluntary initiatives for the environment have pressured manufacturers to be more responsible for the end-of-life (EOL) treatments of their products. The industry has started to realize the importance of the sustainable products, which is only possible through the closed loop of the product life cycle. In order to establish an efficient closed loop of the product life cycle, mostly disassembly is necessary. One of the important issues of design for disassembly (DfD) is to evaluate ease of disassembly steps, so that designer can make decisions about sequences and level of disassembly. EOL Disassembly decisions are influenced by accessibility of the components, EOL options of the material, the environmental impact of the components and processes, the disassembly time, and the net benefit from the EOL recovery. Designers shall not to be assumed to be DfD experts. Therefore some software tools to support designer to generate disassembly sequences, which can be used for evaluating the ease of disassembly have been developed. In this paper, the systematical search approach for disassembly precedence graph, the environmental impact and the cost calculation algorithm, which has been used in the EOL Recovery Information System (ERIS) are presented.","PeriodicalId":166385,"journal":{"name":"2007 IEEE International Symposium on Assembly and Manufacturing","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-07-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115176580","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-07-22DOI: 10.1109/ISAM.2007.4288463
M. Shimizu, W. Yoon, K. Kitagaki
This paper demonstrates the validity of a task skill transfer approach using a humanoid robot. The task skill transfer approach is a methodology for transferring human skills to robot programs in an abstracted level to achieve various practical tasks in real environments regardless of robot hardware difference. First, the outline of the approach is presented. Second, how to acquire task skills is described. Finally, a task skill, which has been created with an industrial manipulator, is implemented to a humanoid robot to experimentally validate the reusability of the skill across the robot platforms.
{"title":"Experimental Validation of Task Skill Transfer Approach Using a Humanoid Robot","authors":"M. Shimizu, W. Yoon, K. Kitagaki","doi":"10.1109/ISAM.2007.4288463","DOIUrl":"https://doi.org/10.1109/ISAM.2007.4288463","url":null,"abstract":"This paper demonstrates the validity of a task skill transfer approach using a humanoid robot. The task skill transfer approach is a methodology for transferring human skills to robot programs in an abstracted level to achieve various practical tasks in real environments regardless of robot hardware difference. First, the outline of the approach is presented. Second, how to acquire task skills is described. Finally, a task skill, which has been created with an industrial manipulator, is implemented to a humanoid robot to experimentally validate the reusability of the skill across the robot platforms.","PeriodicalId":166385,"journal":{"name":"2007 IEEE International Symposium on Assembly and Manufacturing","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-07-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125071893","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-07-22DOI: 10.1109/ISAM.2007.4288456
S. Yeh, Shin-Chun Su
This paper focuses on the design of the extended branch structure for rapidly and simultaneously interpolating non-uniform rational B-spline (NURBS) surfaces and their partial derivatives on CNC machines. NURBS surfaces are concerned in the applications of molding process. However, the copious and complicated operations usually limit the applications of NURBS surfaces in CNC machining systems. In this paper, by considering the derivatives of basis functions, an extended branch structure is derived such that the computation time can be significantly reduced in computing NURBS surfaces and their partial derivatives. According to the machining results on a 3-axis vertical machining center, the extended branch structure is feasible to implement on CNC machines and is more efficient than existing approaches in computation.
{"title":"Interpolation of NURBS Surfaces by Using the Extended Branch Structure of Basis Functions","authors":"S. Yeh, Shin-Chun Su","doi":"10.1109/ISAM.2007.4288456","DOIUrl":"https://doi.org/10.1109/ISAM.2007.4288456","url":null,"abstract":"This paper focuses on the design of the extended branch structure for rapidly and simultaneously interpolating non-uniform rational B-spline (NURBS) surfaces and their partial derivatives on CNC machines. NURBS surfaces are concerned in the applications of molding process. However, the copious and complicated operations usually limit the applications of NURBS surfaces in CNC machining systems. In this paper, by considering the derivatives of basis functions, an extended branch structure is derived such that the computation time can be significantly reduced in computing NURBS surfaces and their partial derivatives. According to the machining results on a 3-axis vertical machining center, the extended branch structure is feasible to implement on CNC machines and is more efficient than existing approaches in computation.","PeriodicalId":166385,"journal":{"name":"2007 IEEE International Symposium on Assembly and Manufacturing","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-07-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115214004","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-07-22DOI: 10.1109/ISAM.2007.4288481
Xiaowei Zhu, S. Jack Hu, Y. Koren, Samuel P. Marin, N. Huang
Sequence planning is an important problem in assembly line design. It is to determine the order of assembly tasks to be performed sequentially. Significant research has been done to find good sequences based on various criteria, such as process time, investment cost, and product quality. This paper discusses the selection of optimal sequences based on complexity introduced by product variety in mixed-model assembly line. The complexity was defined as operator choice complexity, which indirectly measures the human performance in making choices, such as selecting parts, tools, fixtures, and assembly procedures in a multi-product, multi-stage, manual assembly environment. The complexity measure and its model for assembly lines have been developed in an earlier paper by the authors. According to the complexity models developed, assembly sequence determines the directions in which complexity flows. Thus proper assembly sequence planning can reduce complexity. However, due to the difficulty of handling the directions of complexity flows in optimization, a transformed network flow model is formulated and solved based on dynamic programming. Methodologies developed in this paper extend the previous work on modeling complexity, and provide solution strategies for assembly sequence planning to minimize complexity.
{"title":"Sequence Planning to Minimize Complexity in Mixed-Model Assembly Lines","authors":"Xiaowei Zhu, S. Jack Hu, Y. Koren, Samuel P. Marin, N. Huang","doi":"10.1109/ISAM.2007.4288481","DOIUrl":"https://doi.org/10.1109/ISAM.2007.4288481","url":null,"abstract":"Sequence planning is an important problem in assembly line design. It is to determine the order of assembly tasks to be performed sequentially. Significant research has been done to find good sequences based on various criteria, such as process time, investment cost, and product quality. This paper discusses the selection of optimal sequences based on complexity introduced by product variety in mixed-model assembly line. The complexity was defined as operator choice complexity, which indirectly measures the human performance in making choices, such as selecting parts, tools, fixtures, and assembly procedures in a multi-product, multi-stage, manual assembly environment. The complexity measure and its model for assembly lines have been developed in an earlier paper by the authors. According to the complexity models developed, assembly sequence determines the directions in which complexity flows. Thus proper assembly sequence planning can reduce complexity. However, due to the difficulty of handling the directions of complexity flows in optimization, a transformed network flow model is formulated and solved based on dynamic programming. Methodologies developed in this paper extend the previous work on modeling complexity, and provide solution strategies for assembly sequence planning to minimize complexity.","PeriodicalId":166385,"journal":{"name":"2007 IEEE International Symposium on Assembly and Manufacturing","volume":"147 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-07-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115651087","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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