Upload
lambao
View
221
Download
1
Embed Size (px)
Citation preview
tronic and Robotic Systems Laboratory
Research Activities of the
Mechatronic and Robotic Systems Laboratory
Scott Nokleby, PhD, PEngDirector
mars.engineering.uoit.ca
tronic and Robotic Systems Laboratory
Current ProjectsAutomation of Nuclear Fuel Manufacturing– Automated Pellet Stacking and Inspection– Mobile-Manipulator Systems– Omni-Directional Platforms
Novel Manipulator Design– Composite Robot Arms
Parallel Manipulators– Optimization of Parallel Schönflies Motion Generators
Optimal Design
tronic and Robotic Systems Laboratory
Associate Chair of the Cameco Research Chair in
Nuclear Fuel at UOIT
Goals of the Associate Chair:
1. Improve manufacturing processes at Cameco.
2. Development and application of advanced automation methodologies for Cameco to minimize human exposure to radiation and hazardous materials throughout the production of a fuel bundle, from the mining of the ore to the assembly of the bundle.
tronic and Robotic Systems Laboratory
Mobile Manipulators
+ =
Manipulator(Six DOF)
Mobile Robotic Base(Two DOF)
Mobile Manipulator(Eight DOF)Redundant
tronic and Robotic Systems Laboratory
Benefits of a Mobile Manipulator
WorkEnvelope
hy would we wantmobile manipulator?
Workspace is Finite
Workspace is Infinite
tronic and Robotic Systems Laboratory
Goal of the ResearchTo develop new control algorithms that will allow a mobile manipulator to be tele-operated in an effective, unified, and “intuitive” manner
tronic and Robotic Systems Laboratory
Jasper Mobile Manipulator
• Thermo Electron Corporation• Six DOF• Weight 53 kg (115 lb)• Payload 3 kg (6.6 lb)• Reach (no gripper) 710 mm• Repeatability +/- 0.05 mm
CRS F3 Articulated Robot PowerBot
• ActivMedia Robotics• Two DOF• Weight* 120 kg (264.6 lb)• Payload* 100 kg (220.5 lb)• Speed 2.1 m/s*with minimum battery capacity
tronic and Robotic Systems Laboratory
Input DeviceSpatial joystick based on a 3-branch parallel mechanism.– Originally developed by RSI Research.– 6-DOF– Utilizes redundant sensing to achieve a
unique solution and to improve accuracy.• Nine sensors in total (three per branch).
tronic and Robotic Systems Laboratory
Input Device
Originally equipped with analog potentiometers - replaced by digital encoders (65,536 counts per revolution after quadrature decoding).
tronic and Robotic Systems Laboratory
Jasper Mobile Manipulator
Movie:http://www.youtube.com/watch?v=RexWw3n37Ug
tronic and Robotic Systems Laboratory
Mobile Manipulator Applications
Improved tele-operated and autonomous systems for mining applications and hazardous material handling– Remove humans from dangerous
environmentsExtension to ROV systems
tronic and Robotic Systems Laboratory
OmnibotOmni-directional travel allows the device to move:– Forward and backward– Left and right– Diagonally in any direction– Rotate 360° on the spot
tronic and Robotic Systems Laboratory
Omnibot Applications
Autonomous transportation system for hazardous and non-hazardous materialsHighly-maneuverable base for mobile manipulators
tronic and Robotic Systems Laboratory
Design of an Advanced, Light-Weight, Long-Reach, High-Payload Robot Arm
Requirements:– 50 kg payload, 5 m reach, as light as possible
To meet these requirements, the idea is to make extensive use of composite materialsDeveloped a novel composite link design that is currently being patented
tronic and Robotic Systems Laboratory
Optimization of Parallel Schönflies Motion Generators
McGill Schönflies Motion Generator
Device for high-speed pick-and-place operations
tronic and Robotic Systems Laboratory
Conclusion
There is a common misconception that robots are here to replace humans.
The fact is, robots are here to assisthumans in their endeavors.
tronic and Robotic Systems Laboratory
Acknowledgements: CollaboratorsProfessor Jorge Angeles, McGillProfessor Juan Carretero, UNBDr. Flavio Firmani, UVicProfessor Ron Podhorodeski, UVicProfessor Remon Pop-Iliev, UOITProfessor Ed Waller, UOIT
tronic and Robotic Systems Laboratory
Acknowledgements: Students(Past and Present)
Danial AlizadehSteven BemisCliff ChanMichael FrejekVenus GargJean-François GauthierSasha GinzburgMike MacLeod
• Robin McDougall• Brian Riess• William Scott• Darrin Willis• Joe Vanderlaan• Florentin von Frankenberg• Alp Zibil