Abstract
This paper reports on the development of a new, non-contact, cost-effective and widely-applicable optical sensor for the measurement of the three degrees of translational freedom of a robotic end-effector. The workpiece positioning sensor (wPOS) tracks the relative position between the workpiece and end-effector in real-time, using laser speckle correlation for the measurement of in-plane position and Range-Resolved Interferometry for out-of-plane positioning. The sensing principles of the techniques and the development of the instrument are discussed along with example results for applications in robotic additive manufacturing for tool speed and layer height measurements.
Highlights
A hybrid functional and physical architecture graph (HyFPAG) is the output which depicts the similarity between product families by providing design support to both, production system planners and product designers
Range-resolved interferometry (RRI) [6] is a cost-effective interferometry technique based on the sinusoidal wavelength modulation of widely available and robust telecoms laser diodes
In many continuous machining or processing operations the feed rate or tool speed is critical to process quality [2], and we have recently reported on the use of Laser Speckle Correlation (LSC) to provide realtime tool speed measurements [8,13] for path characterization of a KUKA KR150 L110/2 industrial robot used for robotic wire and arc additive manufacturing (WAAM) [14]
Summary
The general concept behind of the instrument consists of an end-effector mounted sensor head that allows the measurement in real-time of the relative position between the robotic end-effector and the workpiece in three translational degrees-of-freedom (x,y,z) Reflecting surface with patterns possible from a wide variety of surfaces including metal, paper, sand and rocks [12] The combination of both techniques allows a three degreeof-freedom positioning sensor, where the workpiece range information from the RRI sensor is used to determine the optimal laser speckle calibration at any given point. Connection to the instrument is via a USB3 camera cable and armored optical fibre leads for light delivery
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