Eventos Anais de eventos
COBEM 2019
25th International Congress of Mechanical Engineering
EVALUATION OF A PERPENDICULARITY METHODS FOR A ROBOTIC END EFFECTOR IN A CURVED SURFACE APPLICATION TO THE AIRCRAFT INDUSTRY
Submission Author:
Kleber Roberto da Silva Santos , SP
Co-Authors:
Kleber Roberto da Silva Santos, Gustavo Carvalho, Rodrigo Tanure Tricarico, Luiz Fernando Lapetina Rocha Ferreira, Emilia Villani
Presenter: Rodrigo Tanure Tricarico
doi://10.26678/ABCM.COBEM2019.COB2019-1994
Abstract
In this paper, we present, compare and analyse the results of two different solutions for correction of the perpendicularity error of industrial robot manipulator end effector and curved surfaces, one of which uses an algorithm already developed for flat surfaces that will be tested with few modifications for its efficiency for curved surfaces. In the new approach the robot’s pose is normalized through a linear sensor that allows us to quickly generate the correction angles and the Z distance, this is done in two different directions, allowing us to generate correction angles B and C in relation to surface. The main focus of this work is to evaluate the methods presented within a maximum error of 0.5 degrees between the manipulator and the normal of the table tested, and to verify the influence of different sensors used in the first method. The flat surface results did not satisfied the requirement of 0:5o, but the following tests on tubular and spherical surface proved the reliability of the method on curved surfaces and achieved median result around 0:1o. This work is related to the projects of the Center for Competence in Manufacturing (CCM), under development at ITA, inpartnership with Embraer and supported by FINEP.
Keywords
automation, perpendicularity, design of experiments, end effector, measurement system
