THERMAL SPRAYING ROBOT KINEMATICS AND LASER PATTERN CONTROL

D. Breen, E. Coyle, D. M. Kennedy

Abstract

The thermal spraying surface engineering industry relies on manual spraying and standard pre-programmed robotic systems. This research presents the completed geometric forward and inverse kinematics solution for a non standard articulated robotic manipulator which includes continuous 3600 axis rotation for waist, shoulder and elbow joints with a commercially available joint for tilt and pitch. The research also details the use of Polytetrafluoroethylene (PTFE) electroless nickel slip rings and brushes for providing delivery of power and data through the continuous rotation joints. The automatic analysis of distance and orientation measurement via a pattern producing laser and camera system is being researched for suitability in the thermal spraying process for automatic feedback and control of the robotic arm manipulator. The competed technical and simulation design will provide for the automatic application of advanced surface coatings to enhance wear, low friction and corrosion resistance properties to substrates via a thermal spraying process.

References

  1. Niku, Saeed B., 2001. Introduction to Robotics Analysis, Systems, Applications, Prentice Hall. New Jersey 1st edition.
  2. Richard Halldern “Flame Spraying” TWI (2001) http://www.twi.co.uk/j32k/protected/band_3/ksrdh001 .html
  3. Sciavicco Lorenzo, Siciliano Bruno, 2000. Modeling and Control of Robot Manipulators. Springer London 2nd edition.
  4. Whelan, Paul F., Molloy, Derek, 2001. Machine Vision Algorithms in Java Techniques and Implementation, Springer. London 1st edition.
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Paper Citation


in Harvard Style

Breen D., Coyle E. and M. Kennedy D. (2005). THERMAL SPRAYING ROBOT KINEMATICS AND LASER PATTERN CONTROL . In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 972-8865-30-9, pages 411-414. DOI: 10.5220/0001172504110414


in Bibtex Style

@conference{icinco05,
author={D. Breen and E. Coyle and D. M. Kennedy},
title={THERMAL SPRAYING ROBOT KINEMATICS AND LASER PATTERN CONTROL},
booktitle={Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2005},
pages={411-414},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001172504110414},
isbn={972-8865-30-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - THERMAL SPRAYING ROBOT KINEMATICS AND LASER PATTERN CONTROL
SN - 972-8865-30-9
AU - Breen D.
AU - Coyle E.
AU - M. Kennedy D.
PY - 2005
SP - 411
EP - 414
DO - 10.5220/0001172504110414