Automatic Gyro Effect Simulation for Robotic Painting Application

Konferenz: ISR 2016 - 47st International Symposium on Robotics
21.06.2016 - 22.06.2016 in München, Germany

Tagungsband: ISR 2016

Seiten: 4Sprache: EnglischTyp: PDF

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Li, Xiongzi (ABB, 5 Waterside Crossing, Windsor, CT, 06095, USA)
Wang, Jianjun; Choi, Sang; Li, Ray (ABB, USCRC, 06095, Windsor, USA)
Riveland, Steinar; Landsnes, Oeyvind (ABB, NOATM, 4340, Bryne, Norway)
Hara, Masao (ABB, JPABB, Japan)

From ABB’s paint business unit, it is strongly believed the gyroscopic effect caused by the robot reorientation (wrist motion) is one of the main reasons for atomizer turbine "touch down" (the rotor getting in contact with the stator) and the bearing air 'cushion' not being strong enough for preventing contact at 50 - 70kRPM rotation speed. The goal of the project is to calculate the dynamics data by simulating the paint robot motion in the virtual controller in RobotStudio, so the user can identify the potential robot targets along the trajectory that could cause damage to the motor. The success of the project increased productivity and saved costs because the simulation is more intuitive and easier to try out, so the robot motion can be optimised to avoid frequent atomizer air motor failure. Some of the results can be used for other robotic projects as well.