Development of a mobile manipulator for industrial/mining applications

开发用于工业/采矿应用的移动机械手

• 批准号: 571886-2021
• 负责人: Fotouhi, RezaR
• 金额: $ 1.46万
• 依托单位: University of Saskatchewan
• 依托单位国家: 加拿大
• 项目类别: Alliance Grants
• 财政年份: 2022
• 资助国家: 加拿大
• 起止时间: 2022-01-01 至 2023-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=759948
• 关键词: Development; mobile; manipulator; industrial; mining

The main objective of this project is to develop a mobile manipulator (a UGV, unmanned ground vehicle, and its manipulator) for industrial/mining applications for Admetal Engineering Corp. One application is robotics field welding in cold weather, and the focus of this project is on developing software for navigation of the UGV and manipulator motion for performing its task. Also, integration of an existing weld system with a commercially available UGV is the hardware focus of this project. Field welding in cold weather is a challenging and expensive task due to welders' high salary in rural areas and limited working time in extreme cold. Autonomous multi-sensor navigation software will be developed and tested in a simulated environment for indoor/outdoor settings and rough terrain. Software will be developed for accurate and uniform robotics welding. A laser seam tracking device will be integrated to detect weld seam location. The milestones for this project are: 1. Select and purchase a UGV suitable for indoor/outdoor navigation, such as Hunter-2; 2. Develop/purchase a welding manipulator suitable for operation on mobile platform #1, such as Han E05/E10; 3. Develop a welding mobile platform by integrating UGV (#1) and welding manipulator (#2); 4. Develop software for navigation of the UGV and the manipulator for performing its task; 5. Lab testing of performance of the navigation software for robustness; 6. Lab testing of performance of the welding platform in simulated cold conditions; 7. Investigate weld quality by comparing manipulator versus manual welding; 8. Writing papers/reports. The mobile welding platform will be designed, fabricated, and tested in a laboratory setting. Upon successful testing, the platform will be used in industrial/mining applications. The results will be published in technical journals and presented in technical conferences. Upon completion of this project, precision industrial robotic welding will be achieved for rough settings and terrain. The focus of this project will be on industrial/mining applications because of their importance for the Canadian economy.

该项目的主要目标是为AdMetal Engineering公司开发一种用于工业/采矿应用的移动机械手(UGV、无人地面车辆及其机械手)。其中一个应用是寒冷天气下的机器人现场焊接，该项目的重点是开发用于UGV导航的软件和执行其任务的机械手运动。此外，现有焊接系统与商用UGV的集成也是该项目的硬件重点。寒冷天气下的野外焊接是一项具有挑战性和昂贵的任务，因为农村地区焊工的工资很高，而且在极端寒冷的情况下工作时间有限。自主多传感器导航软件将在室内/室外设置和崎岖地形的模拟环境中开发和测试。将开发用于精确和统一的机器人焊接的软件。将集成一个激光焊缝跟踪设备来检测焊缝位置。本项目的里程碑是：1.选择和购买适合室内外导航的UGV，如Hunter-2；2.开发/购买适合在移动平台#1上操作的焊接机械手，如HAN E05/E10；3.集成UGV(#1)和焊接机械手(#2)，开发焊接移动平台；4.开发UGV导航软件和执行任务的机械手；5.导航软件的实验室性能测试；6.模拟寒冷条件下焊接平台的性能测试；7.通过机械手与手动焊接的比较来考察焊接质量；8.撰写论文/报告。移动焊接平台将在实验室环境中进行设计、制造和测试。测试成功后，该平台将用于工业/采矿应用。研究结果将发表在技术期刊上，并在技术会议上公布。该项目建成后，将实现对崎岖环境和地形的精密工业机器人焊接。该项目的重点将放在工业/采矿应用上，因为它们对加拿大经济很重要。