DTW: a design method for designing robot end-effectors

Furtado, Luís Fernando Ferreira; Villani, Emília; Trabasso, Luı́s Gonzaga; Silva, Carlos Eduardo Oliveira

doi:10.1007/s40430-013-0109-8

Cited by 9 publications

(11 citation statements)

References 26 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The KR-210 is used to carry the ASAA drilling and fastening end-effector and thus is not discussed in this paper. Detailed information about it can be found elsewhere (28) . All the relevant network considerations are shared with the KR-500.…”

Section: Kr-210 and Kr-500 Kuka Industrial Robotsmentioning

confidence: 99%

Light automation for aircraft fuselage assembly

Trabasso

Mosqueira

2019

Aeronaut. j.

View full text Add to dashboard Cite

The ever-growing need to improve manufacturing processes has led recently to an increase in the number of automation solutions used to assemble aircraft structural elements. A process of interest to this industry is the alignment of fuselage sections, which is currently done either manually or by complex, expensive automated systems. The manual method introduces a significant production delay and most automated systems have limited flexibility. This article presents an integration solution implemented in an alternative low-cost, high-flexibility alignment robotic cell. The performance of an optical coordinate measuring machine (CMM) as feedback source for the adaptive control of a conventional industrial manipulator is assessed. Laser interferometry readings are used as reference. The contribution of the work lies in the execution of experiments based on the EN ISO 9283 standard (Manipulating industrial robots - performance criteria and related test methods) to determine the adequacy of the commercial off-the-shelf system to the tolerances and requirements of the fuselage alignment process at hand. The optimal configuration of the integrated system attained the nominal alignment position with an average accuracy of 0.16mm and $0.004^\circ$ , partially meeting the required tolerances, and the obtained values are nearly 16x better compared to a baseline, open-loop manipulator. These results serve as reference for the aerospace industry in the development of the next generation of tools and automated assembly processes.

show abstract

Section: Kr-210 and Kr-500 Kuka Industrial Robotsmentioning

confidence: 99%

Light automation for aircraft fuselage assembly

Trabasso

Mosqueira

2019

Aeronaut. j.

View full text Add to dashboard Cite

show abstract

“…For simulation of microsegregation in quaternary alloys during solidification, we used five equations: one for energy, one for the phase field itself, and three equations for solute concentrations (carbon, phosphorus, and manganese). The energy equation to be integrated is, Furtado and Olivé5: …”

Section: Governing Equationsmentioning

confidence: 99%

“…Moreover, a commonly resorted way of including anisotropy in the model is to regard ε in Equation 2 as dependent on a so‐called “growth angle,” θ . This angle reflects the orientation of the normal to the interface with respect to the x axis, i.e., the longitudinal interface advance direction (Furtado and Olivé5): where δ ε gauges the anisotropy. The value j controls the number of preferential growth directions.…”

Section: Governing Equationsmentioning

confidence: 99%

“…Also from Furtado and Olivé,5 the phase‐equation mobility, M , is computed as where each of the ξ j is obtained from …”

Section: Governing Equationsmentioning

confidence: 99%

“…Results have been published pertaining to phase‐field modeling and simulation of anisotropy effects by Suwa et al2 and solidification processes by Mullis 3. On the other hand, some work has been performed on microsegregation in ternary alloys by Wynblatt and Landa4 and Furtado and Olivé 5. It is in this general framework that the present work is developed, with a focus on quaternary alloys and the phase‐field model implemented via finite volumes.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Simulation of Microsegregation in Multicomponent Alloys During Solidification

Salvino

Ferreira

2012

steel research int.

View full text Add to dashboard Cite

A phase‐field model is applied to the simulation of microsegregation and microstructure formation during the solidification of multicomponent alloys. The results of the one‐dimensional numerical simulations show good agreement with those from the Clyne–Kurz equation. Phase‐field simulations of non‐isothermal dendrite growth are examined. Two‐dimensional computation results exhibit different dendrites in multicomponent alloys for different solute concentrations. Changes in carbon concentration appear to affect dendrite morphology. This is due to a larger concentration and a lower equilibrium partition coefficient for carbon. On the other hand, changes in phosphorus concentration affect the dendrites and interface velocity in multicomponent alloys during solidification when phosphorus content is increased from 10−3 mol% P. With additional manganese, the solidification kinetics slow down; dendrite morphology, however, is not affected. The potential of the phase‐field model for applications pertaining to solidification has been demonstrated through the simulations herein.

show abstract

Integrated Product Design and Development

Pessôa

Trabasso

2016

The Lean Product Design and Development Journey

View full text Add to dashboard Cite

DTW: a design method for designing robot end-effectors

Cited by 9 publications

References 26 publications

Light automation for aircraft fuselage assembly

Light automation for aircraft fuselage assembly

Simulation of Microsegregation in Multicomponent Alloys During Solidification

Integrated Product Design and Development

Contact Info

Product

Resources

About