SBIR Phase I: Process Control for Robotic Surface Finishing

SBIR 第一阶段：机器人表面精加工的过程控制

• 批准号: 0539650
• 负责人: Steven Somes
• 金额: $ 10万
• 依托单位: Western Robotics Co
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2006
• 资助国家: 美国
• 起止时间: 2006-01-01 至 2006-06-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0539650&HistoricalAwards=false
• 关键词: SBIR; Phase; Process; Control; Robotic

This Small Business Innovation Research Phase I project explores the innovation of a robot that, like biological creatures, operates by applying and sensing contact forces. Today's position-controlled robots have limited applicability to many manufacturing tasks, especially those related to material removal and surface finishing. Emulating a human's free-hand motion capability greatly advances robot capability. Such a robot could trace part contours to smooth and polish. It could "feel" for part edges to discover a part's location, and compare measured geometry to a modeled ideal to detect finishing requirements. The robot could follow finishing strategies, acquiring needed information by touch as it worked. These capabilities will be applied to turbine blade finishing. Applications for force capable robots are ubiquitous across industry. Virtually all parts made from casting, forging, machining, or molding require some degree of surface finishing to arrive at a final desired shape and smoothness. Other prospective applications include: mechanical assembly, sorting and packaging irregular objects, and dual-arm manipulation of heavy and bulky items. The hazards to people filling these roles andperforming repetitive motions are well known, with musculo-skeletal injuries costing the U.S. an estimated $15 Billion/yr.

这个小企业创新研究第一阶段项目探索了机器人的创新，就像生物一样，通过施加和感知接触力来操作。今天的位置控制机器人对许多制造任务的适用性有限，特别是那些与材料去除和表面抛光有关的任务。模仿人类的徒手运动能力大大提高了机器人的能力。这样的机器人可以跟踪零件轮廓，以平滑和抛光。它可以“感觉”到零件的边缘来发现零件的位置，并将测量的几何形状与模型化的理想形状进行比较，以检测精加工要求。机器人可以遵循整理策略，在工作时通过触摸获取所需的信息。这些能力将应用于涡轮机叶片精加工。具有强制能力的机器人的应用在整个行业中无处不在。几乎所有由铸造、锻造、机加工或模制制成的零件都需要一定程度的表面精加工，以达到最终所需的形状和光滑度。其他潜在的应用包括：机械装配，分拣和包装不规则物体，以及重型和大件物品的双臂操作。众所周知，担任这些角色和进行重复运动的人面临的危险，肌肉骨骼损伤给美国造成的损失估计为每年150亿美元。