Tool Accessibility Analysis for Robotic Drilling and Fastening

被引:3
作者
Dakdouk, David [1 ]
Xi, Fengfeng [1 ]
机构
[1] Ryerson Univ, Dept Aerosp Engn, Toronto, ON M5B 2K3, Canada
来源
JOURNAL OF MANUFACTURING SCIENCE AND ENGINEERING-TRANSACTIONS OF THE ASME | 2017年 / 139卷 / 09期
关键词
D O I
10.1115/1.4036639
中图分类号
T [工业技术];
学科分类号
08 ;
摘要
Robotic applications in aerospace manufacturing and aircraft assembly today are limited. This is because most of the aircraft parts are relatively crowded and have complex shapes that make tasks like robotic drilling and fastening more challenging. These challenges include tool accessibility, path, and motion planning. In this paper, a process methodology was developed to overcome the tool accessibility challenges facing robotic drilling and riveting for aircraft parts that are located in crowded work environments. First, the tool accessibility was analyzed based on the global accessibility area (GAA) and the global accessibility volume (GAV) to determine the accessible boundaries for parts with zero, one, and two surfaces curvatures. Then, the path for the tool was generated while taking in consideration the approachability planning. This approach generates a number of intermediate points that enable the tool to maneuver around obstacles to reach the final target points if they are accessible. Last, a software application was developed to simulate the drilling and riveting tasks, and to validate the proposed process. The results of the simulation confirmed the proposed methodology and provided a numerical feedback describing the level of crowdedness of the work environment. The accessibility percentage can then be used by the design team to reduce the design complexity and increase the level of tool accessibility.
引用
收藏
页数:8
相关论文
共 14 条
  • [1] COMPUTATIONAL GEOMETRY ON THE SPHERE WITH APPLICATION TO AUTOMATED MACHINING
    CHEN, LL
    WOO, TC
    [J]. JOURNAL OF MECHANICAL DESIGN, 1992, 114 (02) : 288 - 295
  • [2] A novel approach to the geometric feasibility analysis for fast assembly tool reasoning
    Chung, Chulho
    Peng, Qingjin
    [J]. INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY, 2006, 31 (1-2) : 125 - 134
  • [3] Dakdouk D., 2012, THESIS
  • [4] Dakdouk D., 2016, THESIS
  • [5] Algorithms for computing global accessibility cones
    Dhaliwal, Savinder
    Gupta, Satyandra K.
    Huang, Jun
    Priyadarshi, Alok
    [J]. Journal of Computing and Information Science in Engineering, 2003, 3 (03) : 200 - 209
  • [6] PATH PLANNING AND COLLISION AVOIDANCE FOR ROBOTS
    Gerdts, Matthias
    Henrion, Rene
    Homberg, Dietmar
    Landry, Chantal
    [J]. NUMERICAL ALGEBRA CONTROL AND OPTIMIZATION, 2012, 2 (03): : 437 - 463
  • [7] Gray T., 2013, 2013012338 SAE
  • [8] SPATIAL PLANNING - A CONFIGURATION SPACE APPROACH
    LOZANOPEREZ, T
    [J]. IEEE TRANSACTIONS ON COMPUTERS, 1983, 32 (02) : 108 - 120
  • [9] Smooth Tool Path Optimization for Flank Milling Based on the Gradient-Based Differential Evolution Method
    Lu, YaoAn
    Ding, Ye
    Zhu, LiMin
    [J]. JOURNAL OF MANUFACTURING SCIENCE AND ENGINEERING-TRANSACTIONS OF THE ASME, 2016, 138 (08):
  • [10] Spyridi A. J., 1990, Proceedings 1990 IEEE International Conference on Robotics and Automation (Cat. No.90CH2876-1), P1284, DOI 10.1109/ROBOT.1990.126176