SBIR Phase I: Methodology for Applying Haptic Robotics to Agile Manufacturing

这个小企业创新研究第一阶段项目将介绍一种新颖的通用方法，用于在敏捷的小生产制造中应用高度可反向驱动的机器人和触觉。应用到喷漆将有助于演示，开发和评估这种方法。所提出的方法有两个步骤：（1）确定最佳候选任务和（2）指导触觉和可反向驱动性在这些特定任务中的应用。第一阶段有四个研究目标。首先，详细地充实了喷漆示例。考虑零件表面几何形状的广泛变化以及其他生产和安全问题。第二，触觉油漆喷涂实施至少两种不同类型的零件几何形状与巴雷特的新触觉WAM手臂。第三，应用油漆喷涂的经验教训，以加强一般的方法。第四，通过将其应用于另外三个制造实例，重新评估该方法的可行性和通用性。今天的许多领域缺乏解决方案，特别是对于短期生产，这将需要密切和同时的机器人和人类互动，以竞争力，安全和高质量地完成。将触觉技术扩展到包括可反向驱动的机器人技术并开发适当的方法可以直接解决短期生产问题。其他可能受益的制造领域包括以下领域的短期生产操作：在线计量的轧机和车床维护、复合材料铺层、铸件、缝焊和密封剂分配。

This Small Business Innovation Research Phase I project will introduce a novel and general methodology for applying highly backdrivable robots and haptics in agile, small-production-run manufacturing. Application to spray painting will help to demonstrate, develop, and evaluate this methodology. The proposed methodology has two steps: (1) identifying best candidate tasks and (2) guiding the application of haptics and backdrivability in those specific tasks. There are four research objectives for Phase I. First, the paint-spraying example is fleshed out in detail. Consider the wide variations in part-surface geometries and other production and safety issues. Second, haptic paint-spraying is implemented for at least two different types of part geometry with Barrett's new haptic WAM arm. Third, apply the paint-spraying lessons learned to strengthen the general methodology. Fourth, reassess the feasibility and generality of the methodology by applying it to three additional manufacturing examples.The technologically revolutionary haptics field has not yet revolutionized manufacturing. Many areas today lack solutions, especially for short-run production, that would require intimate and simultaneous robotic and human interaction to be accomplished competitively, safely, and with high quality. Extending haptics to include backdrivable robotics and developing the appropriate methodology can address short-run production directly. Other manufacturing areas likely to benefit include short-run production operations in the following areas: mill and lathe tending with in-line metrology, composite layups, castings, seam welding, and sealant dispensing.