Industrial Robot: An International Journal

Development of an inspection robot for long-distance transmission pipeline on-site overhaul : Table of Contents

Jianming Yuan, Xinjun Wu, Yihua Kang, Chen Huang — Sat Oct 24 08:00:20 BST 2009

Abstract:
Purpose – Damage of oil and gas long-distance transmission pipelines caused by corrosion, stresses, geological change, and other factors can result in catastrophic failures. The purpose of this paper is to describe a mobile out-pipe inspection robot for the pipeline inspection. Design/methodology/approach – This paper adapts to the requirements of long-distance transmission pipelines on-site overhaul, the robot developed in this paper utilizes a local magnetic flux leakage testing method for the pipeline inspection. Detection, walking, attachment, steering, and control units are designed for the robot. Findings – The detection apparatus of the robot plays dual roles as detection and attachment unit. So, the structure of the robot is relatively simple and it is relatively small in size and relatively light. Practical implications – A prototype of the robot has been manufactured according to the design. Results of the test in lab show the robot can be used to inspect pipe. Originality/value – The robot is able to scan and inspect the pipeline along the planned route automatically.

In quest of mobility – Honda to develop walking assist devices : Table of Contents

Yoshihiro Kusuda — Sat Oct 24 08:00:20 BST 2009

Abstract:
Purpose – The purpose of this paper is to describe new walking assist devices Honda is developing. Design/methodology/approach – The exhibition, press release and interview are described. The features of the walking assist devices are presented. Findings – The paper finds that Honda is developing walking assist devices for elderly and disabled people based on its expertise in autonomous walking obtained through the development of Advanced Step in Innovative Mobility. Originality/value – This paper highlights the value of the walking assist devices.

Intelligent methodology for sensing, modeling, and control of weld penetration in robotic welding system : Table of Contents

T. Lin, H.B. Chen, W.H. Li, S.B. Chen — Sat Oct 24 08:00:20 BST 2009

Abstract:
Purpose – The purpose of this paper is to develop an efficient online monitoring system. It can improve the welding quality through the real-time analysis of the welding image information. Design/methodology/approach – In this paper, a set-variable precision rough set (VPRS) modeling method was improved and the prediction model of back-side bead width dynamic response for robotic arc welding process is proposed. Back-side width based on the vision sensor in the compound controller is used. Meantime, a compound intelligent controller is designed with the wire-feeding rate compensation. Findings – The dynamical information of the top-side weld pool can be captured in real-time. Moreover, VPRS prediction model could provide the back-side bead width of the weld, which integrated with the fuzzy neural network controller. Therefore, more uniform weld penetration can be achieved with the variation of the assembling gap. Research limitations/implications – The monitor system requires that the information of the weld pool and the front gap can be extracted precisely. Moreover, the front assembling gap should be limited in a certain interval [0~3?mm]. This puts forward high request to image processing algorithm and the assembling of the work-piece. Practical implications – This monitor system is applicable to the manufacturing of the spherical head petals in rocket storage tank. Originality/value – The paper demonstrates that the compound intelligent controller based on the VPRS prediction is possible and effective. The experiments show that the real-time and precision requirements for monitoring and control of weld quality can be satisfied by using this online control system during welding process.

Technology and applications of ABB RobotStudio : Table of Contents

Christine Connolly — Sat Oct 24 08:00:20 BST 2009

Abstract:
Purpose – The purpose of this paper is to examine the capabilities, technological features and applications of a particular industrial robot simulation package. Design/methodology/approach – The paper begins with an introduction to the general characteristics and distinguishing technological features of RobotStudio. Next, there is a detailed study of how the tool is used by a company developing bespoke automation solutions, particularly in the food industry. Finally, the educational value of the software is addressed. Findings – RobotStudio is used to improve the efficiency and accuracy of robot programming and reduce downtime. It also has a role in remote maintenance and troubleshooting, risk management and education. Originality/value – A study of the approach and achievements of an automation integrator makes the technological features of the software easier to understand, in their proper context.

Analysis of the effects of time delays on the teleoperation of a mobile robot in various modes of operation : Table of Contents

David Sanders — Sat Oct 24 08:00:20 BST 2009

Abstract:
Purpose – The purpose of this paper is to investigate the effect of time delay on the ability of a human operator to complete a task with a teleoperated mobile-robot using two systems, two different ways of interacting with the mobile-robots and several different environments. Design/methodology/approach – Teleoperators are observed completing a series of tasks using a joystick to control a mobile-robot while time delays are introduced to the system. They sit at a computer and view scenes remotely on a screen. Cameras are either mounted on the robot or mounted externally so that they view both the environment and robot. Teleoperators complete the tests both with and without sensors. One robot system uses an umbilical cable and one uses a radio link. Findings – In simple environments, a teleoperator may perform better without a sensor system to assist them but as time delays are introduced then there are more failures. In more complicated environments or when time delays are longer, then teleoperators perform better with a sensor system to assist. Teleoperators may also tend to perform better with a radio link than with an umbilical connection. Research limitations/implications – Teleoperated systems rely heavily on visual feedback and experienced operators. This paper investigates the effect of introducing a delay to the delivery of that visual feedback. Practical implications – The paper suggests that in simple environments with short time delays then the amount of sensor support should be small but in more complicated environments or with longer delays then more sensor support needs to be provided. Originality/value – Results from imposing time delays on a teleoperated mobile-robot are presented. Effects on the task of different ways of viewing activity on a computer display are presented, that is with cameras mounted on the robot or cameras mounted externally to view both the environment and robot. Results from using sensors to assist teleoperators are presented. The paper suggests that the amount of sensor support should be varied depending on circumstances.

Design and fabrication of a statically stable stair-climbing robotic wheelchair : Table of Contents

Chun-Ta Chen, Hoang-Vuong Pham — Sat Oct 24 08:00:20 BST 2009

Abstract:
Purpose – The purpose of this paper is to present the mechanical design and stability analysis of a new stair-climbing robotic wheelchair. Design/methodology/approach – A prototype stair-climbing robotic wheelchair is constructed comprising a pair of rotational multi-limbed structures pivotally mounted on opposite sides of a support base. The short arm, long arm, and triangular support structures within each rotational multi-limbed structure rotate under the actuating effects of epicyclical gear trains. Findings – The robotic wheelchair ascends and descends stairs in a statically stable manner and has an efficient planar navigation capability. Research limitations/implications – In its current state of development, the robotic wheelchair is controlled and powered remotely via umbilical cords rather than an onboard processor and power supply. Practical implications – The robotic wheelchair provides an effective solution for enhancing the mobility of the elderly and disabled. Originality/value – The rotational multi-limbed mechanisms are developed to ensure the stability of the sitting base at all stages of the stair navigation maneuver without the need for additional servo-mechanism. The proposed robotic wheelchair shows the simplification of the associated operation process.

The role of robots in the food industry: a review : Table of Contents

Robert Bogue — Sat Oct 24 08:00:20 BST 2009

Abstract:
Purpose – The purpose of this paper is to provide a review of present-day and anticipated future applications of robots in the food industry. Design/methodology/approach – The paper discusses the use of robots in the agriculture and farming, processing and packaging and retail sectors of the industry. Examples are given of specific applications and development activities. Findings – Robots are being developed for many agriculture and farming applications but with the exception of milking robots, most still remain at the research/prototype stage. Food processing and packaging is the best developed sector of the industry and most uses entail picking, packing and palletising, although meat cutting is a growing application. Robots are few in the food retail sector although a number of innovative, niche products have recently been launched. Originality/value – This paper reviews the use of robots throughout the food chain and considers possible future applications.

Direct step-by-step method for industrial robot path planning : Table of Contents

Francisco Rubio, Francisco Valero, Joseph Sunyer, Vicente Mata — Sat Oct 24 08:00:20 BST 2009

Abstract:
Purpose – The purpose of this paper is to solve the path-planning problem of industrial robots in complex environments. Design/methodology/approach – A direct method (in each step, the path is been recorded) is presented in which the search of the path is made in the state space of the robotic system, and it makes use of the information generated about the characteristics of the process, introducing graph techniques for branching. The method poses an optimization problem that aims at minimizing the distance travelled by the significant points of the robot. Findings – A new approach to solve the path-planning problem has been introduced in which the behaviour of three operational parameters (computational time, distance travelled and number of configurations generated) have been analyzed so that the user can choose the most efficient algorithm depending on which parameter he is most interested in. Research limitations/implications – A new technique has been introduced which yields good results as the examples show. Practical implications – The algorithm is able to obtain the solution to the path-planning problem for any industrial robot working in a complex environment. Originality/value – Gives a new tool for solving the path-planning problem.

A miniature wall climbing robot with biomechanical suction cups : Table of Contents

Bingshan Hu, Liwen Wang, Yanzheng Zhao, Z. Fu — Sat Oct 24 08:00:20 BST 2009

Abstract:
Purpose – Wall climbing robots' volume is needed to be very small in fields that workspace is limited, such as anti-terror scouting, industry pipe network inspecting and so on. The purpose of this paper is to design a miniature wall climbing robot with biomechanical suction cups actuated by shape memory alloy (SMA) actuators. Design/methodology/approach – Based on characteristics of biologic suction apparatuses, the biomechanical suction cup is designed first. Theory analysis of the suction cup is made considering elastic plate's deflection and SMAs constitutive model. A triangular close linkage locomotion mechanism is chosen for the miniature robot because of its simple structure and control. The robot's gait, kinematics, and control system are all illustrated in this paper. Findings – Experiments indicate that the suction cup can be used as an adhesion mechanism for miniature wall climbing robots, and the miniature robot prototype with biomechanical suction cups can move in straight line and turn with a fixed angle on an inclined glass wall. Originality/value – This paper describes how a miniature wall climbing robot with biomechanical suction cups actuated by SMA without any air pump is designed.