SBIR Phase I: Force-Controlled Robotic Arm Capable of Sub-Millimeter Precision

这个小型企业创新研究第一阶段项目提出了一种便携式、交互式坐标测量机(CMM)，用于收集与一系列零件的统计抽样一致的几何数据。这项创新利用了电缆驱动器的特性，支持关节臂的精确重复性。为了优化生产并避免产生废品，制造过程校正必须及时进行，但必须基于足够的测量数据。现有的计量系统抑制了这些优选的统计过程控制原则。大型电动坐标测量机要么使用CAD模型离线教授，要么使用笨拙的操纵杆界面在线教授。手动手持臂三坐标测量机使用安全方便，但不支持示教和回放。提出的解决方案是一种电动铰接式机器人，它结合了手动系统的安全性和回放精度，从而支持方便的统计过程控制。预期的最终产品将是一种便携的、用户友好的、具有成本效益的机械臂，它将统计过程控制的质量优势传播到广泛的产品和制造商，包括医疗手术等非传统制造业。目前可用的计量设备的缺点阻碍了统计过程控制的使用，从而降低了制造质量。拟议的解决方案通过更容易地采用统计过程控制来提高制造业的竞争力，从而提高质量和降低报废成本。建议的解决方案邀请生产线工人重新与他们必须最终理解和控制的过程进行密切的身体接触。工人通过教授每个新零件的几何形状来加强直觉，而回放能力避免了乏味和重复的压力。该奖项由2009年美国复苏和再投资法案(公共法律111-5)资助。

This Small Business Innovation Research Phase I project proposes a portable, interactive Coordinate Measuring Machine (CMM) for geometric data collection consistent with statistical sampling of a series of parts. The innovation exploits a characteristic of cable drives that supports precise repeatability in an articulated arm. To optimize production and avoid scrap generation, manufacturing process corrections must occur promptly and yet must be based on adequate measurement data. Existing metrology systems inhibit these preferred statistical process control principles. Large motorized CMMs are either taught offline using CAD models or online using awkward joystick interfaces. Manual only portable-arm CMMs are safe and convenient to use, but teach-and-playback is not supported. The proposed solution is a motorized articulated robot that combines the safety of a manual system with playback precision thereby supporting convenient statistical process control. The anticipated final product will be a portable, user-friendly, cost-effective robotic arm that spreads the quality advantages of statistical process control across a broad range of products and manufacturers including non-traditional manufacturing such as medical surgery.The shortcomings of metrology devices available today discourage the use of statistical process control, thereby undermining manufacturing quality. The proposed solution improves manufacturing competitiveness by enabling easier adoption of statistical process control, leading to higher quality and reduced scrap costs. The proposed solution invites production line workers back into close physical contact with the process that they must ultimately understand and control. The worker strengthens intuition by teaching the device for each new-part geometry, while the playback capability avoids tedium and repetitive stress.This award is funded under the American Recovery and Reinvestment Act of 2009 (Public Law 111-5).