A Robotic Drilling End-Effector and Its Sliding Mode Control for the Normal Adjustment

Zhang, Laixi; Dhupia, Jaspreet Singh; Wu, Mingliang; Huang, Hua

doi:10.3390/app8101892

Cited by 7 publications

(4 citation statements)

References 31 publications

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“…The drilling process is used regularly in this sector and, thus, it was well analyzed; for only the assembly of the wing to the fuselage, thousands of holes are required [119,120].…”

Section: Introductionmentioning

confidence: 99%

Repairing Hybrid Mg–Al–Mg Components Using Sustainable Cooling Systems

et al. 2020

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This paper focused on the maintenance or repair of holes made using hybrid Mg–Al–Mg components by drilling, using two sustainable cooling techniques (dry machining and cold compressed air) and taking surface roughness on the inside of the holes as the response variable. The novelty of the work is in proving that the repair operations of the multi-material components (magnesium–aluminum–magnesium) and the parts made of aluminum and magnesium (separately) but assembled to form a higher component can be done simultaneously, thus reducing the time and cost of the assembly and disassembly of this type of component. The study is based on a design of experiments (DOE) defined as a product of a full factorial 23 and a block of two factors (3 × 2). Based on our findings, we propose that the analyzed operations are feasible under sustainable conditions and, in particular, under dry machining. Also, the results depend on the machining order.

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“…The drilling process is used regularly in this sector and, thus, it was well analyzed; for only the assembly of the wing to the fuselage, thousands of holes are required [119,120].…”

Section: Introductionmentioning

confidence: 99%

Repairing Hybrid Mg–Al–Mg Components Using Sustainable Cooling Systems

et al. 2020

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“…Novák et al [59] investigated the safety regulations and practice solutions with tele-operated mobile robots. Zhang et al [60] argued that a robotic drilling task can be handled with a sliding mode control. Controlling the drilling end-effector achieves dynamic stabilization and tracking accuracy.…”

Section: Advanced Mobile Roboticsmentioning

confidence: 99%

Special Feature on Advanced Mobile Robotics

Kim

2019

Applied Sciences

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“…Automating such processes offer numerous advantages in terms of performance, productivity, efficiency, and safety; as manual operation is often associated with structural damage, risk of rework, and health hazards [1,2,3,4]. Among other processes, drilling has been studied extensively by academics and practitioners due to their widespread use in various manufacturing activities, especially in the automotive and aerospace industries [5,1,6,7]. High-precision drilling is essential for these industries, as the quality of drilling is highly correlated with the performance and fatigue life of the machined structures [4,8,1,9,10].…”

Section: Introductionmentioning

confidence: 99%

Neuromorphic Vision Based Control for the Precise Positioning of Robotic Drilling Systems

Ayyad¹,

Halwani²,

Swart³

et al. 2022

Preprint

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The manufacturing industry is currently witnessing a paradigm shift with the unprecedented adoption of industrial robots, and machine vision is a key perception technology that enables these robots to perform precise operations in unstructured environments. However, the sensitivity of conventional vision sensors to lighting conditions and high-speed motion sets a limitation on the reliability and work-rate of production lines. Neuromorphic vision is a recent technology with the potential to address the challenges of conventional vision with its high temporal resolution, low latency, and wide dynamic range. In this paper and for the first time, we propose a novel neuromorphic vision based controller for faster and more reliable machining operations, and present a complete robotic system capable of performing drilling tasks with sub-millimeter accuracy. Our proposed system localizes the target workpiece in 3D using two perception stages that we developed specifically for the asynchronous output of neuromorphic cameras. The first stage performs multi-view reconstruction for an initial estimate of the workpiece's pose, and the second stage refines this estimate for a local region of the workpiece using circular hole detection. The robot then precisely positions the drilling endeffector and drills the target holes on the workpiece using a combined position-based and imagebased visual servoing approach. The proposed solution is validated experimentally for drilling nutplate holes on workpieces placed arbitrarily in an unstructured environment with uncontrolled lighting. Experimental results prove the effectiveness of our solution with an average positional errors of less than 0.1 mm, and demonstrate that the use of neuromorphic vision overcomes the lighting and speed limitations of conventional cameras. The findings of this paper identify neuromorphic vision as a promising technology that can expedite and robustify robotic manufacturing processes in line with the requirements of the fourth industrial revolution.

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A Robotic Drilling End-Effector and Its Sliding Mode Control for the Normal Adjustment

Cited by 7 publications

References 31 publications

Repairing Hybrid Mg–Al–Mg Components Using Sustainable Cooling Systems

Repairing Hybrid Mg–Al–Mg Components Using Sustainable Cooling Systems

Special Feature on Advanced Mobile Robotics

Neuromorphic Vision Based Control for the Precise Positioning of Robotic Drilling Systems

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