Research Activities of the Mechatronic and Robotic Systems Laboratory
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1 Research Activities of the Mechatronic and Robotic Systems Laboratory Scott Nokleby, PhD, PEng Director mars.engineering.uoit.ca
2 Current Projects Automation 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
3 Goals of the Associate Chair: Associate Chair of the Cameco Research Chair in Nuclear Fuel at UOIT 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.
4 Mobile Manipulators
5 Mobile Manipulators + = Manipulator (Six DOF) Mobile Robotic Base (Two DOF) Mobile Manipulator (Eight DOF) Redundant
6 y would we want obile manipulator? Benefits of a Mobile Manipulator Work Envelope Workspace is Finite Workspace is Infinite
7 Goal of the Research To develop new control algorithms that will allow a mobile manipulator to be tele-operated in an effective, unified, and intuitive manner
8 Jasper Mobile Manipulator
9 Jasper Mobile Manipulator RS F3 Articulated Robot PowerBot Thermo Electron Corporation Six DOF Weight 53 kg (115 lb) Payload 3 kg (6.6 lb) Reach (no gripper) 710 mm Repeatability +/ mm 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
10 Input Device Spatial 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).
11 Input Device Originally equipped with analog potentiometers - replaced by digital encoders (65,536 counts per revolution after quadrature decoding).
12 Jasper Mobile Manipulator Movie:
13 obile Manipulator Applications Improved tele-operated and autonomous systems for mining applications and hazardous material handling Remove humans from dangerous environments Extension to ROV systems
14 Omnibot Omni-directional travel allows the device to move: Forward and backward Left and right Diagonally in any direction Rotate 360 on the spot
15 Omnibot
16 Omnibot
17 Omnibot Movie:
18 Omnibot Applications Autonomous transportation system for hazardous and non-hazardous materials Highly-maneuverable base for mobile manipulators
19 esign of an Advanced, Light-Weight, ong-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 materials Developed a novel composite link design that is currently being patented
20 Prototype Composite Robot
21 Optimization of Parallel Schönflies Motion Generators McGill Schönflies Motion Generator Device for high-speed pick-and-place operations
22 Conclusion There is a common misconception that robots are here to replace humans. The fact is, robots are here to assist humans in their endeavors.
23 Acknowledgements: Sponsors
24 cknowledgements: Collaborators Professor Jorge Angeles, McGill Professor Juan Carretero, UNB Dr. Flavio Firmani, UVic Professor Ron Podhorodeski, UVic Professor Remon Pop-Iliev, UOIT Professor Ed Waller, UOIT
25 Acknowledgements: Students (Past and Present) Danial Alizadeh Steven Bemis Cliff Chan Michael Frejek Venus Garg Jean-François Gauthier Sasha Ginzburg Mike MacLeod Robin McDougall Brian Riess William Scott Darrin Willis Joe Vanderlaan Florentin von Frankenberg Alp Zibil
26 Questions
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