Abstract
Covering objects with masking tapes is a common process for surface protection in processes like spray painting, plasma spraying, shot peening, etc. Manual taping is tedious and takes a lot of effort of the workers. The taping process is a special process which requires correct surface covering strategy and proper attachment of the masking tape for an efficient surface protection. We have introduced an automatic robot taping system consisting of a robot manipulator, a rotating platform, a 3D scanner and specially designed taping end-effectors. This paper mainly talks about the surface covering strategies for different classes of geometries. The methods and corresponding taping tools are introduced for taping of following classes of surfaces: Cylindrical/extended surfaces, freeform surfaces with no grooves, surfaces with grooves, and rotational symmetrical surfaces. A collision avoidance algorithm is introduced for the robot taping manipulation. With further improvements on segmenting surfaces of taping parts and tape cutting mechanisms, such taping solution with the taping tool and the taping methodology can be combined as a very useful and practical taping package to assist humans in this tedious and time costly work.
Similar content being viewed by others
References
Chen W, Zhao D. Path planning for spray painting robot of workpiece surfaces. Mathematical Problems in Engineering, 2013, 2013: 659457
Chen H, Sheng W, Xi N, et al. Automated robot trajectory planning for spray painting of free-form surfaces in automotive manufacturing. In: Proceedings of ICRA’02 IEEE International Conference on Robotics and Automation. IEEE, 2002, 1, 450–455
Chen H, Fuhlbrigge T, Li X. Automated industrial robot path planning for spray painting process: A review. In: Proceedings of 2008 IEEE International Conference on Automation Science and Engineering. Arlington: IEEE, 2008, 522–527
Hegels D, Wiederkehr T, Müller H. Simulation based iterative postoptimization of paths of robot guided thermal spraying. Robotics and Computer-integrated Manufacturing, 2015, 35: 1–15
Baker C L, Baker C R, Galati D G, et al. WIPO Patent, WO/2014/145471A1, 2014-09-18
Hottendorf W J. US Patent, 3654038, 1972-04-04
Horiguchi N, Kaneko Y, Uda S. US Patent, 5105601, 1992-04-21
Lembono T S, Yuan Q, Zou Y, et al. Automatic robot taping: System integration. In: Proceedings of 2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM). Busan: IEEE, 2015, 784–789
Yuan Q, Lembono T S, Zou Y, et al. Automatic robot taping: Autopath planning and manipulation. In: Proceedings of 2015 IEEE 7th Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM). Siem Reap: IEEE, 2015,175–180
Izadi S, Kim D, Hilliges O, et al. KinectFusion: Real-time 3D reconstruction and interaction using a moving depth camera. In: Proceedings of the 24th Annual ACM Symposium on User Interface Software and Technology. New York: ACM, 2011, 559–568
Newcombe R A, Izadi S, Hilliges O, et al. KinectFusion: Real-time dense surface mapping and tracking. In: Proceedings of 2011 10th IEEE International Symposium on Mixed and Augmented Reality (ISMAR). Basel: IEEE, 2011, 127–136
Yuan Q, Lembono T S, Chen I. Automatic robot taping: Strategy and enhancement. In: Proceedings of 21st CISM IFToMM Symposium on Robot Design, Dynamics and Control. Udine, 2016
Murray R M, Sastry S S, Li Z. A Mathematical Introduction to Robotic Manipulation. Boca Raton: CRC Press, 1994
Yuan Q, Chen I. Localization and velocity tracking of human via 3 IMU sensors. Sensors and Actuators A: Physical, 2014, 212: 25–33
Craig J J. Introduction to Robotics: Mechanics and Control. 3rd ed. Upper Saddle River: Addison Wesley, 2005
Yu H, Zhang J, Jiao Z. Geodesics on point clouds. Mathematical Problems in Engineering, 2014, 2014(2014): 860136
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Yuan, Q., Chen, IM., Lembono, T.S. et al. Strategy for robot motion and path planning in robot taping. Front. Mech. Eng. 11, 195–203 (2016). https://doi.org/10.1007/s11465-016-0390-1
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s11465-016-0390-1