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Manufacturing the Future 2012 Part 9

Tham khảo tài liệu 'manufacturing the future 2012 part 9', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Distributed Architecture for Intelligent Robotic Assembly Part II Design. 391 It was also tested the generalisation capability of the NNC by assembling different components using the same ACQ-PKB. Results are provided in table 3. For the insertion of the radiused-square component the offsets were the same as before and for the insertion of the circular component a higher offset was used and no rotation was given. The time for each insertion was computed with the learning ability on Lon and also with learning inhibited Loff that is using only the initial ACQ-PKB. The assembly operation was always successful and in general faster in most cases when the learning was enabled compared with inhibited learning. Recovery Error Rz During Assembly Using GVN-PKB ặi I O 0 o UJ 10 9----- 8 I w 7 - - - 6 5 4 3 2 1 0 -1 - -2 - -3 -4 -5 -6 -8.c -9 -10 hh4 0 5 10 15 20 25 30 35 40 45 50 55 60 65 Alignment Motions Recovery Error Rz During Assembly Using ACQ-PKB Figure 13. Recovery error Rz during assembly 392 Manufacturing the Future Concepts Technologies Visions Radiused-square chamfered peg insertion Circular chamfered peg insertion Insertion Offset dx dy dRz mm mm Lon time s Loff time s Offset dx dy dRz mm mm Lon time s Loff time s 1 0.7 0.8 0.8 45 48 0.7 0.8 0 42 43 2 -0.8 1.1 -0.8 45 51 -0.8 1.1 0 41 41 3 -0.7 -0.5 0.8 43 47 0.8. -0.9 0 40 42 4 0.8. -0.9 -0.8 50 54 0.8. -0.9 0 41 41 5 0.7 0.8 -0.8 44 44 -0.8 1.1 0 41 41 6 -0.8 1.1 0.8 53 51 0.8. -0.9 0 41 42 7 -0.7 -0.5 -0.8 54 55 1.4 1.6 0 45 45 8 0.8. -0.9 0.8 50 49 1.6. -1.8 0 43 45 9 0.7 0.8 0.8 46 46 1.4 1.6 0 43 44 10 -0.8 1.1 -0.8 45 55 -1.4 -1 0 42 43 11 -0.7 -0.5 0.8 44 45 12 0.8. -0.9 -0.8 53 51 13 0.7 0.8 -0.8 43 43 14 -0.8 1.1 0.8 53 51 15 -0.7 -0.5 -0.8 44 59 16 0.8. -0.9 0.8 45 50 Table 3. Results using an ACQ-PKB Figure 14. Total distance on XY plane Distributed Architecture for Intelligent Robotic Assembly Part II Design. 393 Insertion center error XY plane 4 1 ACQ-PKB -GVN-PKB 3 123456789 Insertions 10 11 12 13