Design and evaluation of reconfigurable robotic systems for 2 1/2 axis based material deposition strategies

Article type: Research Article

Authors: Djuric, Ana^a | Urbanic, Jill^{b; *}

Affiliations: [a] Intelligent Manufacturing Center, University of Windsor, Windsor, Canada | [b] IMSE department, University of Windsor, Windsor, Canada

Correspondence: [*] Corresponding author: Department of Industrial & Manufacturing Systems Engineering, University of Windsor, 401 Sunset Avenue, Windsor, Ontario, Canada N9B 3P4. Tel.: +1 519 253 3000 Ext. 2633; Fax: +1 519 973 7062; E-mail: [email protected].

Abstract: Simulation tools need to be developed to support modeling and product/process analysis activities for material deposition processes. The long term research goal is to develop a set of virtual modeling tools to support advanced tool motions and process planning strategies for this application. The goal of this research is to develop a reconfigurable robotic platform that can adapt alternative deposition strategies while respecting the unique process-related constraints for 2 1/2 axis and 2 1/2 axis + 2 axis tool paths. A variety of topologies are investigated. For the selected systems, a parametric kinematic, dynamic and control model is developed, and results presented for kinematic and dynamic reconfigurations. An adaptability assessment is performed to determine a relative effort measure to physically reconfigure a base platform to a potential new configuration. This combined with reviewing the modeling complexity issue, is used to determine an appropriate base platform. To simulate the process realistically using existing tools, a methodology is developed to illustrate material deposition in conjunction with the tool motions for the systems investigated.

DOI: 10.3233/ICA-2009-0322

Journal: Integrated Computer-Aided Engineering, vol. 16, no. 4, pp. 315-338, 2009