Integrated optical position and orientation sensing for manufacturing robotics

用于制造机器人的集成光学位置和方向传感

基本信息

批准号：
EP/S01313X/1
负责人：
Ralph Tatam
金额：
$ 140.29万
依托单位：
CRANFIELD UNIVERSITY
依托单位国家：
英国
项目类别：
Research Grant
财政年份：
2020
资助国家：
英国
起止时间：
2020 至无数据
项目状态：
未结题

来源：
https://gtr.ukri.org/projects?ref=EP%2FS01313X%2F1
关键词：
Integrated optical position orientation sensing

项目摘要

The aim of this proposal is to undertake research into novel optical instrumentation to improve the precision of traditional robot-based manufacturing operations and to support future manufacturing aims for more agile and flexible manufacturing systems. This will be achieved by building upon our current research, in which we have developed two complimentary techniques for robotic positioning measurement; range-resolved interferometry (RRI) and laser speckle pattern correlation (LSC).In this proposal we aim to further develop this novel instrumentation, to provide new measurement and in-process monitoring capabilities and to improve significantly the performance via this additional functionality, together with concomitant exploration of new application areas in robotics and automation, laser processing and additive manufacturing via project collaborators. This will enable improved robot performance, extend the applicability of flexible robots in high-precision manufacturing processes, and improve productivity through on-line quality control.To achieve this we have identified a number of the most promising directions which require further research to bring the techniques to an appropriate level for exploitation: The first is to enable robot orientation measurements by the measurement of out-of-plane tilt (pitch and roll) angles, in addition to the positioning (x, y, z) currently implemented. This will enable a range of new application areas including maintaining range and normal measurements to the part during robotic non-destructive testing and orientation and movement control during machining operations. Similarly in air-frame manufacturing maintaining orthogonality in hole drilling operations is critical to the quality of rivet/fastening holes used to ensure fatigue lifetime and surface smoothness and hence aerodynamic performance.In addition to this, the miniaturisation of the sensors will be investigated via the application of optical fibre sensor heads to allow remote positioning, to enable a range of new robotic manufacturing applications. For example applications requiring measurements to be made close to the interaction point, for ease of retro-fitting on existing machine tools and for additional robustness and flexibility in that the instrument can be located further from causes of potential damage in robotic machining or processing. The final area to be investigated is the integration of the instrumentation with laser processing heads. This will enable the use of the sensors in new application areas in robotic laser processing, such as laser based additive manufacturing, in which there is a need for on-line process monitoring such as deposition layer height measurements and control of disturbances during deposition. Or in laser cutting, where control of the focus position relative to the work-piece is critical to ensure cut quality, and to enable rapid processing on thin sheets in the presence of out-of-plane vibrations. The integration of the instruments constructed with the processing laser will result in a novel flexible instrument capable of up to 5 degree-of-freedom positioning and/or cut/ablation depth monitoring, something currently unavailable with existing technologies.

该提案的目的是对新型光学仪器进行研究，以提高传统的基于机器人的制造操作的精度，并支持未来的制造目标，实现更敏捷、更灵活的制造系统。这将通过我们当前的研究来实现，其中我们开发了两种用于机器人定位测量的互补技术；距离分辨干涉测量 (RRI) 和激光散斑图案相关 (LSC)。在本提案中，我们的目标是进一步开发这种新颖的仪器，提供新的测量和过程中监控功能，并通过此附加功能显着提高性能通过项目合作者同时探索机器人和自动化、激光加工和增材制造等新应用领域。这将提高机器人性能，扩展柔性机器人在高精度制造过程中的适用性，并通过在线质量控制提高生产率。为了实现这一目标，我们已经确定了一些最有前途的方向，需要进一步研究以将技术达到适当的开发水平：第一个是除了当前实现的定位（x、y、z）之外，还可以通过测量平面外倾斜（俯仰和滚动）角度来实现机器人方向测量。这将实现一系列新的应用领域，包括在机器人无损测试期间维持零件的范围和正常测量以及在加工操作期间的定向和运动控制。同样，在机身制造中，保持钻孔操作的正交性对于用于确保疲劳寿命和表面光滑度以及空气动力学性能的铆钉/紧固孔的质量至关重要。除此之外，还将通过应用光纤传感器头进行远程定位，以实现一系列新的机器人制造应用。例如，需要在交互点附近进行测量的应用，以便于对现有机床进行改造，并提高仪器的坚固性和灵活性，因为仪器可以放置在远离机器人加工或加工中潜在损坏原因的地方。要研究的最后一个领域是仪器与激光加工头的集成。这将使传感器能够在机器人激光加工的新应用领域中使用，例如基于激光的增材制造，其中需要在线过程监控，例如沉积层高度测量和沉积过程中的干扰控制。或者在激光切割中，控制焦点相对于工件的位置对于确保切割质量以及在存在平面外振动的情况下实现对薄板的快速加工至关重要。使用加工激光器构建的仪器的集成将产生一种新颖的灵活仪器，能够实现高达 5 个自由度的定位和/或切割/烧蚀深度监控，这是现有技术目前无法实现的。