Philippe Poignet, Etienne Dombre, Olivier Merigeaux, François Pierrot and Gilles Duchemin
This paper focusses on two active intrinsically safe medical robots – Hippocrate and DERMAROB – designed by the LIRMM laboratory and manufactured by SINTERS. For both of them, we…
Abstract
This paper focusses on two active intrinsically safe medical robots – Hippocrate and DERMAROB – designed by the LIRMM laboratory and manufactured by SINTERS. For both of them, we discuss design and control issues.
Laurent Sabourin, Vincent Robin, Grigore Gogu and Jean‐Michel Fauconnier
Precision aluminium moulding makes possible the production of large‐size, complex and high‐technology cast parts. However, industrial requirements linked to economic and safety…
Abstract
Purpose
Precision aluminium moulding makes possible the production of large‐size, complex and high‐technology cast parts. However, industrial requirements linked to economic and safety reasons call into question the manual performance of finishing operations. The purpose of this paper is to enhance industrial robot applications by using vision and redundancy optimization to improve their capability.
Design/methodology/approach
After having presented the concepts associated with machine and kinematics capability, the paper first describes the finishing constraints related to the process and the study of inaccuracy factors. Adjusting the trajectory by vision minimizes some inaccuracy factors but does not take into account the structure loading. Therefore, the authors present the optimization, kinematics and precision criteria as well as the multi‐objective method developed by integrating the loading aspect. This method has been verified by simulation and the results validated on industrial parts.
Findings
The paper presents an improvement in machine capacities based on redundancy and an optical 3D measurement system. It develops the strategies, sensors and cell architecture to perform finishing operations.
Research limitations/implications
The finishing of high‐technology structural cast parts requires the completion of the machining and polishing processes adapted to each part. The choice was made to develop a robotic cell dedicated to integrating specific features, in contrast to machine tools.
Practical implications
This study was carried out within the framework of the Eureka SANDCAST project in cooperation with the Alcan group, specialized in high‐technology moulded aluminum parts.
Originality/value
The paper presents an approach to robotic cell capability improvement. The robotic cell is dedicated to finishing operations, by machining and polishing large cast aluminum parts; the objectives are to improve machine capability and kinematics capacity with vision and redundancy management.
Details
Keywords
Grégory Guire, Laurent Sabourin, Grigoré Gogu and Eric Lemoine
The mechanization of the meat cutting companies has become essential. This paper aims to study the feasibility of cutting operations for beef and boning operations for pork ham…
Abstract
Purpose
The mechanization of the meat cutting companies has become essential. This paper aims to study the feasibility of cutting operations for beef and boning operations for pork ham. The study aims to enhance industrial robots application by using vision or force control.
Design/methodology/approach
The paper opted for an industrial robot‐based cell. The first part of this paper focuses on in‐depth study of operators' expertise, so as to translate their actions into automatable operative tasks and to identify the constraints of robotization. It details more particularly a cutting strategy using a bone as a guide which shows the complexity of the process. The analysis of the cutting and task constraint parameters involves the use of a kinematically redundant robotized cell with force control. Then the cell model is developed, and experimentation is performed.
Findings
The paper explains how to solve the problem of the high variability of the size for beef carcass. It gives several ideas to realize the boning of pork ham. It develops the strategies, the sensors and the cell architecture to make this type of operations.
Research limitations/implications
Because of the choice of an existing industrial robot, the tool paths with force control are limited. Therefore, new force control instructions have to be developed to continue this work on more complicated operations.
Practical implications
This study was carried out within the framework of the SRDViand project in cooperation with meat industry partners.
Originality/value
The paper fulfils an identified need to study the beef quartering which is a high‐variability operation and ham deboning which is a high precision operation.