tronic and robotic systems laboratory research … and robotic systems laboratory research...

tronic and Robotic Systems Laboratory

Research Activities of the

Mechatronic and Robotic Systems Laboratory

Scott Nokleby, PhD, PEngDirector

[email protected]

mars.engineering.uoit.ca


Current ProjectsAutomation of Nuclear Fuel Manufacturing– Automated Pellet Stacking and Inspection– Mobile-Manipulator Systems– Omni-Directional Platforms

Novel Manipulator Design– Composite Robot Arms

Parallel Manipulators– Optimization of Parallel Schönflies Motion Generators

Optimal Design


Associate Chair of the Cameco Research Chair in

Nuclear Fuel at UOIT

Goals of the Associate Chair:

1. Improve manufacturing processes at Cameco.

2. Development and application of advanced automation methodologies for Cameco to minimize human exposure to radiation and hazardous materials throughout the production of a fuel bundle, from the mining of the ore to the assembly of the bundle.


Mobile Manipulators


Mobile Manipulators

+ =

Manipulator(Six DOF)

Mobile Robotic Base(Two DOF)

Mobile Manipulator(Eight DOF)Redundant


Benefits of a Mobile Manipulator

WorkEnvelope

hy would we wantmobile manipulator?

Workspace is Finite

Workspace is Infinite


Goal of the ResearchTo develop new control algorithms that will allow a mobile manipulator to be tele-operated in an effective, unified, and “intuitive” manner


Jasper Mobile Manipulator



• Thermo Electron Corporation• Six DOF• Weight 53 kg (115 lb)• Payload 3 kg (6.6 lb)• Reach (no gripper) 710 mm• Repeatability +/- 0.05 mm

CRS F3 Articulated Robot PowerBot

• ActivMedia Robotics• Two DOF• Weight* 120 kg (264.6 lb)• Payload* 100 kg (220.5 lb)• Speed 2.1 m/s*with minimum battery capacity


Input DeviceSpatial joystick based on a 3-branch parallel mechanism.– Originally developed by RSI Research.– 6-DOF– Utilizes redundant sensing to achieve a

unique solution and to improve accuracy.• Nine sensors in total (three per branch).


Input Device

Originally equipped with analog potentiometers - replaced by digital encoders (65,536 counts per revolution after quadrature decoding).



Movie:http://www.youtube.com/watch?v=RexWw3n37Ug


Mobile Manipulator Applications

Improved tele-operated and autonomous systems for mining applications and hazardous material handling– Remove humans from dangerous

environmentsExtension to ROV systems


OmnibotOmni-directional travel allows the device to move:– Forward and backward– Left and right– Diagonally in any direction– Rotate 360° on the spot


Omnibot


Omnibot

Movie: http://www.youtube.com/watch?v=0GwZbNcWRMQ


Omnibot Applications

Autonomous transportation system for hazardous and non-hazardous materialsHighly-maneuverable base for mobile manipulators


Design of an Advanced, Light-Weight, Long-Reach, High-Payload Robot Arm

Requirements:– 50 kg payload, 5 m reach, as light as possible

To meet these requirements, the idea is to make extensive use of composite materialsDeveloped a novel composite link design that is currently being patented


Prototype Composite Robot


Optimization of Parallel Schönflies Motion Generators

McGill Schönflies Motion Generator

Device for high-speed pick-and-place operations


Conclusion

There is a common misconception that robots are here to replace humans.

The fact is, robots are here to assisthumans in their endeavors.


Acknowledgements: Sponsors


Acknowledgements: CollaboratorsProfessor Jorge Angeles, McGillProfessor Juan Carretero, UNBDr. Flavio Firmani, UVicProfessor Ron Podhorodeski, UVicProfessor Remon Pop-Iliev, UOITProfessor Ed Waller, UOIT


Acknowledgements: Students(Past and Present)

Danial AlizadehSteven BemisCliff ChanMichael FrejekVenus GargJean-François GauthierSasha GinzburgMike MacLeod

• Robin McDougall• Brian Riess• William Scott• Darrin Willis• Joe Vanderlaan• Florentin von Frankenberg• Alp Zibil


Questions

tronic and robotic systems laboratory research … and robotic systems laboratory research...

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