New Methods for Automated Generation of Robot Programs for Assembly of Injection Devices at Novo Nordisk

Steffen Madsen

doi:10.21996/3w36-sd49

New Methods for Automated Generation of Robot Programs for Assembly of Injection Devices at Novo Nordisk

Steffen Madsen

Publikation: Afhandling › Ph.d.-afhandling

241 Downloads (Pure)

Abstract

Implementering af kollaborative robotter til montageprocesser har et enormt potentiale til at støtte virksomheder i at reducere gennemløbstiden på nye produkter.Montageprocesser kan dog vœre udfordrende at automatisere, f.eks. på grund afemne kompleksitet, varians og valideringskrav.

Der er to hovedudfordringer ved programmering af robotter til en robust montageproces: Først skal en kinematisk montagebane findes. Denne bane specificererrobottens bevœgelser i det Kartesiske rum. Dette er dog ofte utilstrœkkeligt til atrealisere den ønskede produktkvalitet på grund af produkt- og udstyrstolerancer.Derfor er det ofte et krav også at finde en kompensationsstrategi til håndtering afunøjagtigheder, fx ved brug af sensor information såsom kraft/momentsensorer.Robotprogrammering af den kinematiske montagebane udføres ofte i et virtueltsimuleringssystem, som gør det muligt at bruge digital produktinformation somen del af programmeringsprocessen. Selvom dette er tilstrœkkeligt til at opnå denkinematiske bane, kan det ikke bruges til at tune dynamiske proces parameter ogfinde passende kompensationsstrateger. Derfor er dynamiske simuleringer, somkan simulere dynamiske interaktioner, ofte nødvendige. Der findes værktøj til dynamisk simulering af robotprogrammering; Det er dog en udfordring at opnå effektiv og nøjagtig simulering af dynamiske interaktioner i forbindelse med montage af emner med stramme pasninger. Dynamiske simuleringer er ofte baseretpå diskrete overfladereprœsentationer, så som polyhedral approximations, hvilketkan føre til for mange og unødvendige kontaktpunkter, der kan påvirke kvalitetenaf simuleringen. Simuleringer, der er baseret på glatte overfladereprœsentationer,har ikke disse fejl. At finde kontaktpunkter mellem glatte overflader er dog typiskmere komplekst, men når først et kontaktpunkt er fundet, kan det spores effektivt.

Dette speciale undersøger virtuelle metoder til programmering af robot montageprocesser. Fokus er at undersøge og tilvejebringe løsninger til dette: Fordet første studeres programmering af kinematiske robot baner. Studiet prœsenterer nye metoder til offline programmering af kinematiske baner. Metodernedemonstreres på en industriel montageproces. For det andet studeres dynamiskesimuleringer af kompensationsstrategier. Konkret studeres stramme montageprocesser, og et nyt simuleringsvœrktøj prœsenteres med et kollisionsmodul baseret på glatte overfladereprœsentationer. Til sidst demonstreres vœrktøjet på kompensationsstrategier, og det vises, at vœrktøjet kan bruges til at opnå realistiske simuleringer.

Originalsprog	Engelsk
Bevilgende institution	Syddansk Universitet
Vejledere/rådgivere	Petersen, Henrik Gordon, Hovedvejleder Jami, Milad Damanpak, Bivejleder
Eksterne samarbejdspartnere	Novo Nordisk
Dato for forsvar	25. maj 2023
Udgiver	Syddansk Universitet. Det Tekniske Fakultet
DOI	https://doi.org/10.21996/3w36-sd49
Status	Udgivet - 9. maj 2023

Dokumenter og links

10.21996/3w36-sd49

Open access versionForlagets udgivne version, 17,1 MB

2 Konferencebidrag i proceedings

Extremal Point Tracking on Smooth Surfaces
Madsen, S., Jami, M. & Petersen, H. G., 2022, 2022 IEEE 18th International Conference on Automation Science and Engineering (CASE). IEEE, s. 1144-1150 (Proceedings - IEEE International Conference on Automation Science and Engineering, Bind 2022-August).
Publikation: Kapitel i bog/rapport/konference-proceeding › Konferencebidrag i proceedings › Forskning › peer review
Automated Generation of Robot Trajectories for Assembly Processes Requiring Only Sparse Manual Input
Madsen, S., Jami, M. D. & Petersen, H. G., 18. okt. 2021, 2021 IEEE International Conference on Robotics and Automation (ICRA). IEEE, s. 700-707
Publikation: Kapitel i bog/rapport/konference-proceeding › Konferencebidrag i proceedings › Forskning › peer review

Citationsformater

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abstract = "Deploying collaborative robots for assembly processes has a huge potential to support companies in reducing the lead time on new products. However, assemblyprocesses can be challenging to automate, e.g., due to part complexity, variability,and validation requirements. There are two main challenges when programmingrobots for a robust assembly process. First, a kinematic assembly trajectory needsto be found. This trajectory specifies the robot assembly movements in Cartesianspace. However, this is often insufficient to realize the desired product quality.Hence, a second task is often needed: finding an optimal compensation strategyin response to inaccuracies and fluctuating uncertainties. Robot programming forproduct assemblies is often done through a kinematic virtual simulation. Eventhough this is sufficient for obtaining the kinematic trajectory, it can be insufficient for programming and finding a suitable compensation strategy, since thisrequires simulating dynamic interactions. Dynamic simulation tools for robot programming exist; however, achieving efficient and accurate simulation of dynamicinteractions in a tight-fitting assembly process is an ongoing challenge. Dynamicsimulation engines are often based on discrete surface representations, such aspolyhedral approximations, which can lead to excessive contact points that canaffect the quality of the simulation. Simulations that are based on smooth surfacerepresentations do not have these flaws. Finding contact points between smoothsurfaces is typically more computationally expensive, but once a contact point isfound, it can be tracked efficiently.This thesis investigates robot programming for assembly processes via simulation. First, simulation approaches for programming kinematic trajectories arestudied in the context of automated generation of the assembly motion. The studypresents approaches for programming kinematic trajectories in a simulation anddemonstrates them on an industrial assembly task. Second, dynamic simulationsof compensation strategies are studied. Specifically, tight-fitting assembly processes are studied, and a simulation tool is presented with a collision modulebased on smooth surface representations. Finally, it is demonstrated that the toolcan replicate the behavior of a compensation strategy implemented on a real robot.",

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New Methods for Automated Generation of Robot Programs for Assembly of Injection Devices at Novo Nordisk

Abstract

Dokumenter og links

Fingeraftryk

Relaterede publikationer

Extremal Point Tracking on Smooth Surfaces

Automated Generation of Robot Trajectories for Assembly Processes Requiring Only Sparse Manual Input

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