aras profile march07€¦ · aras research group aras projects industrial r&d casting robot,...

ARAS Research Profile

March. 2007

Advanced Robotic & Automated Systems (ARAS) K. N. Toosi Univ. of TechnologyTehran, Iran

4/3/2007 Research Profile ٢

ARAS Research Group

Contact Address

322 Mirdamad West St.K. N. Toosi Univ. of TechnologyARAS Research GroupTehran, IRANhttp://saba.kntu.ac.ir/eecd/aras

Dr. Hamid D. TaghiradTel: +98 21 8846 2026Fax: +98 21 8846 2066Email: [email protected]

Dr. S. Ali A. MoosavianTel: +98 21 7779 1031Fax: +98 21 7733 4338Email: [email protected]

4/3/2007 Research Profile ٣

ARAS Research Group

• Introduction and History

• Our Vision and Strength

• Industrial Projects

• R&D Projects

• Conclusions

Contents

4/3/2007 Research Profile ٤

ARAS Research Group

The university was originally established in 1928 in Tehran as an "Institute of Communications".

Expanded with an Electronic and Electrical Power Engineering departments.

The department of Civil Engineering was founded in 1955.

The department of Mechanical Engineering was founded in 1973.

Broad expansions since then…

K. N. Toosi Univ of Tech

4/3/2007 Research Profile ٥

ARAS Research Group

KNTU offers bachelor's (B.S.) degrees in 17 academic fields.

Graduate (M. Sc. and PhD) degrees in many of those.

About 250 full-time faculty members.

More than 3,500 Bachelor’s students.

More than 250 Ph.D. and 1500 Master’s students.

K. N. Toosi Univ of Tech

4/3/2007 Research Profile ٦

ARAS Research Group

• Established in 1997 for research joint collaboration between:

Prof. Ali Ghaffari

Prof. Hamid D. Taghirad

Prof. S. Ali A. Moosavian

• Accomplished Projects in Robotics, Robotic Cells, Automated equipment and systems.

• Ongoing projects in Robotics, Automation, Control Systems and Environment.

ARAS History

4/3/2007 Research Profile ٧

ARAS Research Group

To be the topmost Iranian institution in the field

of Robotics &Robotics & AutomationAutomation, by conduction of

applied research toward practice.

Our Vision

4/3/2007 Research Profile ٨

ARAS Research Group

Our Strength

ARAS Research Group

Highly Motivated and Talented Students

Professionally Trained Research Assistants

Laboratories and Manufacturing Facilities

International cooperative sister companies for procurement

Close Industrial Relation

4/3/2007 Research Profile ٩

ARAS Research Group

ARAS Projects

Industrial R&D

Casting Robot, D&A 101

Robotic Cell, D&A 401

E. Board Assembly, D&A 301

SPC Software, D&A 320

Casting Machine, D&A 201

Quality Control M., D&A 310

Welding Robot, D&A 110

Climbing Robot, D&A 410

Control Logic, D&A 420

Intelligent Pig Robotic Shoulder

Industrial IT Flexible Joint Robot

Maglev & RTAC EMG Driven Robot

Fault Detection Mobile Robot SLAM

Active Suspension CD Parallel Robot

AUV

Visual ServoingHard Disk Drives

Robotic Simulators

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ARAS Research Group

• Casting Robot: D&A 101

Industrial Projects

Technical Specification

FloorMounting Position

1000 Kg weight

±2.5 mmRepeatability

5 mmAccuracy

2100 mmMax. Reach

5 KgPayload

4Number of axis

DC MotorsActuators

ArticulatedRobot Type

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ARAS Research Group

• Casting Robot: Design Clips

Industrial Projects

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ARAS Research Group

• Casting Robot: Performance Clips

Industrial Projects

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ARAS Research Group

• Casting Robot in 25th Tehran Int. Trade Fair: President Visit

Industrial Projects

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ARAS Research Group

• Robotic Cell: D&A 401D&A 401 is a robotic cell designed to illustrate the integration of five different automatic components of a production line working together. The integrity of robotic handling system, flexible conveying system, Quality control unit and grading system is controlled with an IPC, and a user friendly software developed for the system. This robotic cell consists of :• A 4 DOF robot• A 5 DOF robot• A quality control arm • An indexing table• A flexible conveyer• A grading station

Industrial Projects

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ARAS Research Group

• Robotic Cell Components:

• 5DOF Robot


Floor, Ceiling, Wall

Mounting Position

50 Kg weight

±0.5 mmRepeatability

0.5 mmAccuracy

630 mmMax. Reach

0.7 KgPayload

5Number of axis

Stepper MotorsActuators


Industrial Projects

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ARAS Research Group


• 4DOF Robot


FloorMounting Position

185 Kg weight

±3 mmRepeatability

3 mmAccuracy

1750 mmMax. Reach

1.5 KgPayload

4 Number of axis

DC MotorsActuators


Industrial Projects

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ARAS Research Group


• QC Arm and Indexing Table


QC Arm

150 mmBelt width

GenevaMechanism

1200 mm ~ 2000 mmLength

AC MotorActuator

Indexing Table

950 KgHeight

400 mmLength

DC MotorsActuators

Industrial Projects

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ARAS Research Group

• Robotic Cell Working Clips

Industrial Projects

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ARAS Research Group

• Semi Automatic Electronic Board

Assembly Station: D&A 301

D&A301 is a semi-automatic machine for THT electronic boards assembly, with high accuracy and speed. Electrical component bins are delivered to the user, while a laser beam is projected by light head on the board in order to indicate the position of components. The control of mechanical movement of the bins, the accurate motion of the laser beam and the safety and integrity of the assembly is controlled by an IPC. A user-friendly software DAS, is developed for the system, which translates the electronic board design into a categorized assembling code for the system

Industrial Projects

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ARAS Research Group

• D&A 301 Components:

DAS Software

DAS software is designed to provide a quick and efficient way for assembly program construction.Features:•File import option for PCB design software •Advanced propriety editor for board components •Customizable board viewer •Six different sorting methods •Assembly simulation of written program

Industrial Projects

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ARAS Research Group


Mechanism

The Assembly station consists of 120 bins, in which every 8 bins are placed on a container called "magazine". The mechanism of the bins is designed in such a way that the bins are delivered to the user with two dimensional movement in the least possible period of time. In this mechanism two stepper motors are used as actuators.

Industrial Projects

4/3/2007 Research Profile ٢٢

ARAS Research Group


Control Scheme

• Great Accuracy:Cooperation of a microcontroller (online control) and an IPC (supervisory control).

• Pleasant GUI:Touch screen LCD.

Industrial Projects

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ARAS Research Group

• Semi Automatic Electronic Board

Assembly Station: D&A 301

Industrial Projects


220 VInput Voltage

54 Kg weight

% 98Repeatability

0.2 mmLight accuracy

120No. of Bins

Automatic from ProtelDrawing inputs

Touch Screen LCDUser Interface

Stepper MotorsActuators

LaserGuiding Light

4/3/2007 Research Profile ٢٤

ARAS Research Group

• Assembly Station: Mechanism Motion Clips

Industrial Projects

4/3/2007 Research Profile ٢٥

ARAS Research Group

• Assembly Station: Performance clips

Industrial Projects

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ARAS Research Group

• Assembly Station: Optics Performance Clips

Industrial Projects

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ARAS Research Group

• Assembly Station: Software Performance Clips

Industrial Projects

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ARAS Research Group

• Statistical Process Control (SPC)

Software: D&A 320

is capable of sorting and archiving data while providing statistical process control tools including control charts, calculation of statistical quantities like average and standard deviation, application of sensitivity laws and calculation of process capability ratio, CP, PP and CPK. This software is released in Persian and English languages.

Industrial Projects

4/3/2007 Research Profile ٢٩

ARAS Research Group

• D&A 320is capable of guiding the Quality Control Engineers the occurrence of any non-random problems within the production line. Many statistical tools and measures are calculated and plotted for the operator to ease up this decision. Average, standard deviation control charts, and histograms are produced by D&A SPC in a Multi Document Interface (MDI) for operator visualization.

Industrial Projects

4/3/2007 Research Profile ٣٠

ARAS Research Group

• D&A 320Stores the data in the standard data base format, ODBC . Hence, these information can be almost unlimited, and used by other data base systems. The diagrams can be exported into bmp or WMF formats. The SPC reports can be generated into html format, ready to be submitted into internet. Many sensitivity rules can be used to generically distinguish production line deviations.

Industrial Projects

4/3/2007 Research Profile ٣١

ARAS Research Group

• D&A 320Is completely secured by different access codes generated for different level of access, to ensure no loss or change of data from data base, and change of SPC settings for usual operators.

Simultaneous analysis of several data banks is possible, and D&A SPC is fully released in English and Farsi (Persian) Languages.

Industrial Projects

4/3/2007 Research Profile ٣٢

ARAS Research Group

• Automatic Piston Casting Machine:

D&A 201

Performs a gravity casting process in permanent water-cooled moulds. Mould parts and cores are automatically separated from the product after solidification. A robot manipulator transfers product to a cooling station where it is cooled by virtue of air and/or water currents. The casting machine is suitable for casting double Aluminium pistons of φ65 mm ~ φ92 mm with a core distance of 150 mm.

Industrial Projects

4/3/2007 Research Profile ٣٣

ARAS Research Group


D&A 201

Casting Process

• Double mould casting machine.• Manual operation in setup mode. • Fully automatic operation mode. • Product delivery with robot

manipulator.• Optional equipment for strut delivery.• Hydraulically driven.• Controlled by Siemens S5-115U PLC.

Industrial Projects

4/3/2007 Research Profile ٣٤

ARAS Research Group


D&A 201: Technical Data

Industrial Projects

Natural gas:1.1 m3/hAir for heating:pressure reduced air

Gas connection

Pressure:6 barsFlow:about 24 m3/h

Pneumatic connection

Pressure:5 barsFlow:about 1.2 m3/h

Water connection

Pressure:40-50 barsFlow:16 lit. per casting cycle

Hydraulic connection

Operation voltage:3x400vControl voltage:24V-/230V~Magnet valves:24V-Consumption:5 kW,rated current 9A

Electrical connections

about 3000kgWeight

Casting machine with control cabinetca. 1520 mmca. 2000 mm

DimensionsDepthWidth

4/3/2007 Research Profile ٣٥

ARAS Research Group

• D&A 201: Performance clip

Industrial Projects

4/3/2007 Research Profile ٣٦

ARAS Research Group

• Piston Pin Automatic Quality

Control Machine: D&A 310

Piston pins conform to ultra high precision and quality standards. This automatic quality control machine provides the capability of total products quality control using non-destructive testing methods. Piston pins are graded on the basis of the results of tests.

Industrial Projects

4/3/2007 Research Profile ٣٧

ARAS Research Group

• D&A 310

Main Measurement Stations:

Main measurement station of the Automatic Quality control machine are:1) Length measurement2) Diameter measurement

(diameter, Cylindricity androundness).Eddy current flaw detectionUltrasound crack detectionUltrasound thicknessmeasurement

3) Ordering and Grading Station 1

2

3

Industrial Projects

4/3/2007 Research Profile ٣٨

ARAS Research Group


Length Measurement Station

In this station the

following Length of the

piston pins are measured

with high precision

pneumatic actuated

LVDT’s.

Industrial Projects

4/3/2007 Research Profile ٣٩

ARAS Research Group


High precision Measurement Station

In this station the following high

precision measurements are

accomplished:

1) Sub-micron diameter measurement

2) Eddy current surface flaw detection

3) Ultrasonic crack detection

and thickness measurement

321

Industrial Projects

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ARAS Research Group


High precision Measurement Station

Industrial Projects

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ARAS Research Group


Ordering and Grading Station

Due to the accuracy of the

production measured in the

measurement station, the

piston pins are graded

automatically into four

accepted categories, as well as

four required finishing, or

rejected categories by this

mechanism.

Industrial Projects

4/3/2007 Research Profile ٤٢

ARAS Research Group

• D&A 310: Performance Clips

Industrial Projects

4/3/2007 Research Profile ٤٣

ARAS Research Group

• Automatic Pipe Welding Robot:

D&A 110

Industrial Projects

is designed for automated welding of nozzles to headers used in power plant boilers. The radial welding of these pipes with different radii necessitates saddle curves tracking with adjustable dimensions. The mechanical subsystems controlled by individual micro-controllers being supervised by a central controller, provide a fully automated solution to this application, despite the geometrical limitations.

4/3/2007 Research Profile ٤٤

ARAS Research Group

• D&A 110 Mechanism description

A saddle curve is formed at the intersection of nozzle to the header. The welding torch needs three degrees of freedom to go through this curve:• A revolute movement around the nozzle (φmovement). • A prismatic movement along the nozzle axis ( Z movement). • In addition, since the nozzles have variable diameters, a third degree of freedom is used to compensate this movement which moves the torch along the nozzle radius (r movement). These three movements are supported by 3 gear groups. A general view of this mechanism is shown in the figure.

Industrial Projects

4/3/2007 Research Profile ٤٥

ARAS Research Group

• D&A 110 Mechanism description

Industrial Projects

4/3/2007 Research Profile ٤٦

ARAS Research Group

• D&A 110 Control System

Control system of automated welding machine which is equipped to a minimum system of MCS-51 microcontrollers, works as a multiprocessing system using serial communication protocol. In this system, a master controller by use of the other local (slave) controllers manages and controls actuators and welding process to accomplish a fine weld on the pipes. Also, This robot uses the MIG/MAG welding machine BDH550 to synergic control of the welding parameters. Block diagram of the control system of this robot is shown in figure.

Industrial Projects

4/3/2007 Research Profile ٤٧

ARAS Research Group

• Intelligent Pigs

R&D Projects

• Importance of Oil and Gas Pipeline monitoring and inspection

4/3/2007 Research Profile ٤٨

ARAS Research Group


R&D Projects

• Intelligent pipeline defect determination: MFL

4/3/2007 Research Profile ٤٩

ARAS Research Group


R&D Projects

• Intelligent pipeline defect determination: Ultrasonic Testing

4/3/2007 Research Profile ٥٠

ARAS Research Group

• Industrial IT• FCS (Field Bus Control Systems)

• Foundation Fieldbus

• Profibus

• Hart

• Modbus

• Virtual LAB

• Remote monitoring via internet

• Labview

R&D Projects

4/3/2007 Research Profile ٥١

ARAS Research Group

R&D Projects

• Industrial IT• FCS (Field Bus Control Systems)

• Physical Layers

4/3/2007 Research Profile ٥٢

ARAS Research Group

R&D Projects

• Industrial IT• Virtual Lab

• Sample

implementation

4/3/2007 Research Profile ٥٣

ARAS Research Group

• Robotic Simulators• ARAS ROBOSIM

• 3D Graphics to simulate robot

performance

• Automatic dynamical model generator

• Matlab Assist for controller design

• Tracking performance visualization

and report in html format

R&D Projects

4/3/2007 Research Profile ٥٤

ARAS Research Group

• Robotic Simulators• SimMechanics

• 3D Graphics to simulate robot performance by VR

• Automatic dynamical model generator

• Matlab Assist for controller design

• Tracking performance visualization

• And much more

• Movie Clips• Forward Kinematics

• Hydraulic Shoulder: A Parallel Manipulator

• Virtual Environment: Hydraulic Shoulder

• Virtual Environment: Serial Manipulator

R&D Projects

4/3/2007 Research Profile ٥٥

ARAS Research Group

• Redundant Hydraulic Shoulder• Biological Resemblance

R&D Projects

• Parallel• Redundant• High precision• Hydraulic

4/3/2007 Research Profile ٥٦

ARAS Research Group

• Redundant Hydraulic Shoulder: Controller Card

R&D Projects

4/3/2007 Research Profile ٥٧

ARAS Research Group

• Redundant Hydraulic Shoulder

• Forward Kinematics of a Redundant Parallel Manipulator.

• Optimal Redundancy Resolution Techniques.

• Stiffness and Singularity analysis.

• Dynamic Analysis and Graphical Simulations.

• Robust Position Control.

• Impedance Control.

R&D Projects

4/3/2007 Research Profile ٥٨

ARAS Research Group

• Flexible Joint Manipulator (FJR)• Harmonic Drive

R&D Projects

4/3/2007 Research Profile ٥٩

ARAS Research Group

• Flexible Joint Manipulator (FJR)• Harmonic Drive

• Intelligent Torque Sensor: Rosette Strain Gauges and Kalman Filter

R&D Projects

4/3/2007 Research Profile ٦٠

ARAS Research Group

• Flexible Joint Manipulator (FJR)• Impedance Control of a Flight Simulator Yoke: CAE

R&D Projects

4/3/2007 Research Profile ٦١

ARAS Research Group

• Flexible Joint Manipulator (FJR)

• 2DOF FJR Robot

R&D Projects

4/3/2007 Research Profile ٦٢

ARAS Research Group

• Flexible Joint Manipulator (FJR)

• Modeling: Singular Perturbation

• Robust Composite PID Control

• Composite-H∞ Control.

• H2/H∞ Control.

• Composite-QFT Control.

• Nonlinear H∞ Control.

• Actuator saturation avoidance: Fuzzy Supervisory Loop.

• Experimental Verification.

R&D Projects

• More experiments on the way …

4/3/2007 Research Profile ٦٣

ARAS Research Group

• Flexible Joint Manipulator (FJR)• 2DOF FJR Robot

• Robust Control of flexible-joint manipulator; singular perturbation model of fast and slow dynamics, robust composite control synthesis and stability analysis of the system.

• Composite-H∞ Controller Synthesis for Flexible Joint Robots.

• Composite-QFT Controller Synthesis for Flexible Joint Robots.

• Nonlinear H∞ Controller Synthesis for Flexible Joint Robots.

• A survey on flexible joint robot modeling and controller design methods.

• Supervisory control loop to avoid actuator saturation in flexible joint manipulators.

R&D Projects

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ARAS Research Group

R&D Projects

Hard Disk Drive – Adaptive Robust ControlHard Disk Drive Structure

4/3/2007 Research Profile ٦٥

ARAS Research Group

R&D Projects

8 10 12 14 16 18 20 22

970

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eter

time ms

Hard Disk Drive – Adaptive Robust ControlHDD Performance Requirement

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ARAS Research Group

R&D Projects

4/3/2007 Research Profile ٦٧

ARAS Research Group

R&D Projects

4/3/2007 Research Profile ٦٨

ARAS Research Group

R&D Projects

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ARAS Research Group

0 5 10 15 20 25 30-200

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time ms

8 10 12 14 16 18 20 22

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R&D Projects

Hard Disk Drive – ARC Performace

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ARAS Research Group

R&D Projects

DUAL Hard Disk Drive – ARCVoice Coil Motor

Piezzo Actuator MEMS

ARC Implementation

Promising Results

4/3/2007 Research Profile ٧١

ARAS Research Group

R&D Projects

Mobile Robots:Simultaneous Localization and Mapping (SLAM)

Extended Kalman Filter

Particle Filter

Image processing

Data association

SLAM for guidance and controlResquake Robot (3 years)

Currently 1 M.Sc. Theses

More B.Sc., M.Sc. And Ph.D. Thesis to come!

Avril

Silver

4/3/2007 Research Profile ٧٢

ARAS Research Group

R&D ProjectsCable Driven Redundant Parallel Robots

Next Generation Giant Telescopes: LAR

4/3/2007 Research Profile ٧٣

ARAS Research Group

R&D Projects

Cable Driven Redundant Parallel RobotsNext Generation Giant Telescopes: LAR

4/3/2007 Research Profile ٧٤

ARAS Research Group

R&D Projects


4/3/2007 Research Profile ٧٥

ARAS Research Group

R&D Projects


4/3/2007 Research Profile ٧٦

ARAS Research Group

R&D Projects


Eight tether redundant parallel manipulatorMacro/micro structureKinematics analysis and optimal geometry designJacobian analysisRedundancy resolution Position controller design

4/3/2007 Research Profile ٧٧

ARAS Research Group

R&D Projects

Cable Driven Redundant Parallel Robots

KNTU 6DOF CDRP Robot

Eight tether redundant parallel

manipulator

Potential industrial project:

Ultra precise 5-axis Laser trimming

machine

Currently 1 B.Sc. And 1 M.Sc. Theses

More B.Sc., M.Sc. And Ph.D. Theses to come!

4/3/2007 Research Profile ٧٨

ARAS Research Group

• For more topics and information please see

http://saba.kntu.ac.ir/eecd/taghirad

Thank You

R&D Projects

4/3/2007 Research Profile ٧٩

ARAS Research Group

:لويي پاستور گفته است

ده شويد و در هر حرفه اي که هستيد نه اجازه دهيد که به بدبينيهاي بي حاصل آلو را به يأس نه بگذاريد که برخي لحظات تأسف بار که براي هر ملتي پيش مي آيد شما

. و نااميدي بکشاند نخست از خود . در آرامش حاکم بر آزمايشگاهها و کتابخانه هايتان زندگي کنيد

سپس همچنانکه پيش مي رويد . بپرسيد که براي يادگيري و خود آموزي چه کرده ام د تا به اين بپرسيد که من براي کشورم چه کرده ام و اين پرسش را آنقدر ادامه دهي

احساس شادي بخش و هيجان انگيز برسيد که شايد سهم کوچکي در پيشرفت و . اعتالي بشريت داشته ايد

يان تالشهايمان اما هر پاداشي که زندگي به تالشهايمان بدهد يا ندهد هنگاميکه به پا : د بگوئيم نزديک مي شويم هر کداممان بايد حق آنرا داشته باشيم که با صداي بلن

.من آنچه در توان داشته ام انجام داده ام

aras profile march07€¦ · aras research group aras projects industrial r&d casting robot,...

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