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Robotic machining in correlation with a 3D scanner

Kurc Krzysztof, Burghardt Andrzej, Szybicki Dariusz, Gierlak Piotr, Łabuński Wojciech, Muszyńska Magdalena, Giergiel Józef

Mechanics and Mechanical Engineering

2020

Vol. 24, nr 1

36--41

The article presents an original method of communication and data exchange in a robotic machining station consisting of two robots, a positioner and a 3D optic scanner. The task of one of the robots, equipped with a 3D optic scanner, was to receive point cloud of a detail (mould) attached to the positioner table. After detail digitalisation, the received point cloud was adjusted to (compared with) a model detail in the form of a CAD file in the Atos Professional software. In the software, casting material excesses were received in places selected on the detail. Values of the excesses and their coordinates were saved in the script and sent to the robot controller using TCP/IP protocol. The other of robots, equipped with the force control addition and the option of obtaining various processing tools, received sent excess and its coordinates. The other robot adjusted the processing parameters to random excesses, the value of which was received from measurements of the optic scanner of the first robot.

Modeling the inspection robot with magnetic pressure pad

Kurc Krzysztof, Burghardt Andrzej, Szybicki Dariusz, Giergiel Józef

Mechanics and Mechanical Engineering

2019

Vol. 23, nr 1

50--58

This article presents the process of designing a robot with a magnetic pressure pad for inspections of ferromagnetic ventilation ducts. In compliance with the assumptions, the CAD design of the robot was developed in a 3D programming environment. The designing proces brought about a mathematical model of the robot with one pair of magnetic drive modules, including simulation in a MATLAB/Simulink environment. The model accounted for parameters such as rolling resistance force, transverse resistance moment, magnetic attraction force, solid moment of inertia, and other factors. The magnetic pressure pad allowed for moving the robot in magnetic ventilation systems irrespective of slopes and shapes of ducts.