Synergy in Motion

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2 Νοε 2013 (πριν από 3 χρόνια και 7 μήνες)

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Coordinate Measurement Systems Committee

Albuquerque, New Mexico

April 13
-
17, 2001

Scanners


Robots


Measurement Plans

Synergy in Motion

Bruce Thomas

Joe Calkins

Robert Salerno, Ph.D.

Scott Sandwith

Peter Howard

Jack Shry

New River

Kinematics

Fanuc

Robotics

MetricVision

August 13
-
17 2001

Coordinate Measurement System Committee

Albuquerque, New Mexico

New River Kinematics
-

MetricVision

Scanners, Robots, Measurement Plans


Synergy in Motion

Motivation


Metrology Solution


Lidar Scanner


Target
-
less Technology


Feature based measurements


Ideal for
unattended

and
automatic
inspection


Need to automatically reposition to scan entire
object (ex: Car)


Metrology software system architecture required
to integrate the measurement system, CAD
design, and robotic manipulator


Measurement Plan capability required to
automatically acquire and analyze the data


It’s
Cool
!!


August 13
-
17 2001

Coordinate Measurement System Committee

Albuquerque, New Mexico

New River Kinematics
-

MetricVision

Scanners, Robots, Measurement Plans


Synergy in Motion

Component 1: Lidar Scanner


Simple Automation:
Programmable

part
and tool
feature

inspections, alignments,
reports, initiate programs
remotely



Accuracy:
65
m
m at 10 m


Surface/Feature Measurements:


MV200 requires only 1 pico
-
watt (10
-
12W) of
return signal


any surface



Fast: 1,000 measurements per second


Versatile: Used in varied configurations


Portable independent measurement system


Part of an automated robotic metrology
system


Non
-
contact


Target
-
less



Features


No Photogrammetry Dots


No Laser Tracker SMRs


No Retro Reflectors


No Probes


No Contact

August 13
-
17 2001

Coordinate Measurement System Committee

Albuquerque, New Mexico

New River Kinematics
-

MetricVision

Scanners, Robots, Measurement Plans


Synergy in Motion

Component 2: Robot


Reliable

Robot for
handling


Long reach


2.1 times more with
Flip
Over Mechanism


Variety of layouts


A simple motor direct
drive mechanism


Minimizes the
interference area


Small/slim wrist allows
the robot to operate in a
small space

August 13
-
17 2001

Coordinate Measurement System Committee

Albuquerque, New Mexico

New River Kinematics
-

MetricVision

Scanners, Robots, Measurement Plans


Synergy in Motion

Component 3: Integration Software


Programmable measurement
planning

with dynamic real time
graphical interface


Distributed computing

capable (real
-
time multi
-
task measurement and
analysis across multiple computers)


Instrument compensation


Synchronous

Measurement between
Instruments (Master
-
Slave or
Synchronous Polled Modes)


TCP/IP interfaces to instruments to
enable
distributed processing


Supports
remote process control

and
monitoring.


Common instrument user
-
interface

August 13
-
17 2001

Coordinate Measurement System Committee

Albuquerque, New Mexico

New River Kinematics
-

MetricVision

Scanners, Robots, Measurement Plans


Synergy in Motion

System Integration




One interface controls and
coordinates the system
components


Extrinsic Calibration through In
-
line Robot Control Model:


Tool to CLR Frame


Robot Base to WORLD


Integrated graphical automation
programming for n systems


Distributed computing


Remote monitoring and control

August 13
-
17 2001

Coordinate Measurement System Committee

Albuquerque, New Mexico

New River Kinematics
-

MetricVision

Scanners, Robots, Measurement Plans


Synergy in Motion

Adaptive Scanning In Action

August 13
-
17 2001

Coordinate Measurement System Committee

Albuquerque, New Mexico

New River Kinematics
-

MetricVision

Scanners, Robots, Measurement Plans


Synergy in Motion

Adaptive Scanning: Close
-
up

August 13
-
17 2001

Coordinate Measurement System Committee

Albuquerque, New Mexico

New River Kinematics
-

MetricVision

Scanners, Robots, Measurement Plans


Synergy in Motion

Benefits / Applications


Increased workspace

for metrology equipment by
extending visibility


Integrates reliable
hybrid

technologies on a
common platform

through general
object
oriented

architecture


Adaptive Automation improves process reliability


If the system can’t quite see the feature it can be
programmed to
interactively hunt it down


Custom configurations

fit the application


Robot moves instrument


Robot move the part


Adaptive control


Etc…


Integrated robot
performance enhancements

(feedback / calibration loop)

August 13
-
17 2001

Coordinate Measurement System Committee

Albuquerque, New Mexico

New River Kinematics
-

MetricVision

Scanners, Robots, Measurement Plans


Synergy in Motion

Measurement

Plan

Robot

Control Module

Process

Tracking

Database

MS OfficeXP

Reporting

Lidar Scanner

Instrument Interface

STEP Model

Integration

Software

System Architecture

August 13
-
17 2001

Coordinate Measurement System Committee

Albuquerque, New Mexico

New River Kinematics
-

MetricVision

Scanners, Robots, Measurement Plans


Synergy in Motion

Measurement

Plan

Robot

Control Module

Process

Tracking

Database

MS OfficeXP

Reporting

Lidar Scanner

Instrument Interface

STEP Model

Integration

Software

Questions


Future Direction