Design and evaluation of reconfigurable robotic systems for 2 1/2 axis based material deposition strategies

Abstract

Simulation tools need to be developed to support modeling and product/process analysis activities for material deposition processes. The long term research goal is to develop a set of virtual modeling tools to support advanced tool motions and process planning strategies for this application. The goal of this research is to develop a reconfigurable robotic platform that can adapt alternative deposition strategies while respecting the unique process-related constraints for 2 1 /2 axis and 2 1 /2 axis + 2 axis tool paths. A variety of topologies are investigated. For the selected systems, a parametric kinematic, dynamic and control model is developed, and results presented for kinematic and dynamic reconfigurations. An adaptability assessment is performed to determine a relative effort measure to physically reconfigure a base platform to a potential new configuration. This combined with reviewing the modeling complexity issue, is used to determine an appropriate base platform. To simulate the process realistically using existing tools, a methodology is developed to illustrate material deposition in conjunction with the tool motions for the systems investigated.

Multi-agent-based reconfiguration for restoration of distribution systems with distributed generators

“…Fault isolation and restoration are forms of general reconfiguration. Computer methods provide solutions for various reconfiguration problems [5]. The electric power system restoration challenge can be tackled using a centralized or distributed solution.…”