Autonomous Exploration and Extraction of Deep Mineral Deposits
Type of Action HORIZON-RIA
H.O.M.E.R. – Handling Of Non-Rigid Materials With Robots
Four Universities and two industrial partners are involved in this project (U.W.C., U.R., T.U.B., U.P., Fazan, Image).
Development of an Expert System in designing of grippers for handling non-rigid materials.
The main aim of this research is to provide users of robots with a systematic approach for the design of grippers for handling non-rigid materials. The expert system will be implemented in a knowledge-based system called HOMER.
The objectives of the research are:
To address specific non-rigid materials handling tasks which are difficult to automate and propose engineering solutions. The tasks will be specified by industrial partners.
To develop an expert system for the design of grippers for handling non-rigid materials.
To develop new grasping techniques for non-rigid materials.
To improve current gripper design techniques specifically for the handling of non-rigid materials.
To verify the developed knowledge-based system at the industrial partners’ site to prove its applicability and adaptability in real-world manufacturing environments
ROBAS Under Copernicus Frame
The Robotics Group of the University of Patras is interested in the following three tasks:
Development of a Knowledge-based System for the generation of assembly strategies.
Simulation of robot cells for assembly of a valve produced by Zita Ltd.
Development of a Hybrid Force/Position Controller for the implementation of assembly strategies.
Knowledge Based System
The knowledge-based system accepts as input IGES files where the parts are containing geometrical data for the parts to be assembled.
The parts are classified according to their Geometric Features.
The parts for each assembly task are classified as either moving or stationary.
The C-Frames is defined on the moving part.
The artificial constraints of each assembly subtask are formulated according to the contact case between the moving and the stationary part.
A special algorithm for the identification of the contact case is developed. This algorithm inputs the signal from the force sensor. In addition, a fuzzy decision system has been developed in order to reason about the feasibility of the assembly with respect to the tolerances between the two parts and the robot repeatability error.
The main purpose of this project is to demonstrate the benefits associated with Virtual Manufacturing (VM) and Rapid Prototyping (RP) technologies and research, and increase the awareness amongst small and medium enterprises (SMEs) and research institutions in Asia of advanced methods for product development.
To build technology demonstration centres (TDC) in Malaysia and Thailand to do a feasibility study of VM and RP, and to disseminate information about these advanced concepts for product and manufacturing system design and product development.
To develop two VM pilot applications: focusing on VM in product design and one on the application of VM in system design.
To increase the awareness of Asian SMEs of the capabilities of the existing advanced methods for product development and to demonstrate rapid prototyping as a new technology for rapidly converting CAD virtual prototypes into physical prototypes.
To increase the Asian companies’ awareness of VM as a future strategy using advanced IT tools to support concurrent design processes.
To enable Asian SMEs to estimate the benefits associated with the implementation of VM and RP