Research of autonomous manufacturing systems is motivated both by the new technical possibilities of cyber-physical systems and by the practical needs of the industry.Autonomous operation in semi-structured industrial...Research of autonomous manufacturing systems is motivated both by the new technical possibilities of cyber-physical systems and by the practical needs of the industry.Autonomous operation in semi-structured industrial environments can now be supported by advanced sensor technologies,digital twins,artificial intelligence and novel communication techniques.These enable real-time monitoring of production processes,situation recognition and prediction,automated and adaptive(re)planning,teamwork and performance improvement by learning.This paper summarizes the main requirements towards autonomous industrial robotics and suggests a generic workflow for realizing such systems.Application case studies will be presented from recent practice at HUN-REN SZTAKI in a broad range of domains such as assembly,welding,grinding,picking and placing,and machining.The various solutions have in common that they use a generic digital twin concept as their core.After making general recommendations for realizing autonomous robotic solutions in the industry,open issues for future research will be discussed.展开更多
In order to meet the polishing requirement of faucets and other products,a novel multi-station rotary polishing robot is designed,which is a PPPR + RR type of degree of freedom( DOF) distribution structure,and is simi...In order to meet the polishing requirement of faucets and other products,a novel multi-station rotary polishing robot is designed,which is a PPPR + RR type of degree of freedom( DOF) distribution structure,and is similar to dual-arm robot. Forward and inverse kinematic analysis is carried out by robot modeling. In order to make this robot structure more compact,first of all,X,Y and Z three moving degrees of freedom( DOF) limit stroke polishing need is calculated by using an artificial fish swarm algorithm,which analyzes dexterous workspace of this robot. Then,on the basis of the above analysis,the three DOF stroke is optimized. Simulation and polishing experimental results verify that this polishing robot with optimized stroke parameters can meet the polishing needs of faucets and other bathroom pieces.展开更多
Mechanized construction of micro-catchments for water harvesting （WH） was successfully tested in the Badia （dry rangeland） areas in Syria and Jordan, using the ＂Vallerani＂ plow, model Delfino （50 MI/CM）, manuf...Mechanized construction of micro-catchments for water harvesting （WH） was successfully tested in the Badia （dry rangeland） areas in Syria and Jordan, using the ＂Vallerani＂ plow, model Delfino （50 MI/CM）, manufactured by Nardi, Italy. The plow was able to construct intermittent and continuous contour ridges, and could potentially be used to rehabilitate degraded rangelands. However, one major issue for large-scale implementation is the high cost and time required to manually identify contours for the plow to follow. Most existing auto-guiding systems, as usually used in road construction and agricultural land leveling, were expensive or impractical. The objective, therefore, was to add, adapt, and evaluate an auto-guiding system to enable a tractor to follow contours without demarcation through conventional surveying. A low-cost Contour Laser Guiding （CLG） system, with specifications that suit the contour ridging in undulating topographic conditions of dry rangelands, was chosen, adapted, mounted, and tested, under actual field conditions. The system consisted mainly of a portable laser transmitter and a tractor-mounted receiver, connected to a guidance display panel. The system was field-tested on 95 ha of land where the system capacity was determined under different terrains, slopes （1-8%）, and ridge spacings （4-12 m）. The easy adaptation and implementation of the CLG to the ＂Vallerani＂ unit tripled the system capacity, improved efficiency and precision, and substantially reduced the cost of constructing micro-catchments for WH. The system is recommended for large-scale rangeland rehabilitation projects in the dry areas, not only in West Asia, but worldwide.展开更多
基金supported by the European Union within the framework of the“National Laboratory for Autonomous Systems”(No.RRF-2.3.1-212022-00002)the Hungarian“Research on prime exploitation of the potential provided by the industrial digitalisation(No.ED-18-2-2018-0006)”the“Research on cooperative production and logistics systems to support a competitive and sustainable economy(No.TKP2021-NKTA-01)”。
文摘Research of autonomous manufacturing systems is motivated both by the new technical possibilities of cyber-physical systems and by the practical needs of the industry.Autonomous operation in semi-structured industrial environments can now be supported by advanced sensor technologies,digital twins,artificial intelligence and novel communication techniques.These enable real-time monitoring of production processes,situation recognition and prediction,automated and adaptive(re)planning,teamwork and performance improvement by learning.This paper summarizes the main requirements towards autonomous industrial robotics and suggests a generic workflow for realizing such systems.Application case studies will be presented from recent practice at HUN-REN SZTAKI in a broad range of domains such as assembly,welding,grinding,picking and placing,and machining.The various solutions have in common that they use a generic digital twin concept as their core.After making general recommendations for realizing autonomous robotic solutions in the industry,open issues for future research will be discussed.
基金Supported by the Key Research and Development Project of Yangzhou--Industry Preview and Key Projects(No.YZ2015011)
文摘In order to meet the polishing requirement of faucets and other products,a novel multi-station rotary polishing robot is designed,which is a PPPR + RR type of degree of freedom( DOF) distribution structure,and is similar to dual-arm robot. Forward and inverse kinematic analysis is carried out by robot modeling. In order to make this robot structure more compact,first of all,X,Y and Z three moving degrees of freedom( DOF) limit stroke polishing need is calculated by using an artificial fish swarm algorithm,which analyzes dexterous workspace of this robot. Then,on the basis of the above analysis,the three DOF stroke is optimized. Simulation and polishing experimental results verify that this polishing robot with optimized stroke parameters can meet the polishing needs of faucets and other bathroom pieces.
文摘Mechanized construction of micro-catchments for water harvesting （WH） was successfully tested in the Badia （dry rangeland） areas in Syria and Jordan, using the ＂Vallerani＂ plow, model Delfino （50 MI/CM）, manufactured by Nardi, Italy. The plow was able to construct intermittent and continuous contour ridges, and could potentially be used to rehabilitate degraded rangelands. However, one major issue for large-scale implementation is the high cost and time required to manually identify contours for the plow to follow. Most existing auto-guiding systems, as usually used in road construction and agricultural land leveling, were expensive or impractical. The objective, therefore, was to add, adapt, and evaluate an auto-guiding system to enable a tractor to follow contours without demarcation through conventional surveying. A low-cost Contour Laser Guiding （CLG） system, with specifications that suit the contour ridging in undulating topographic conditions of dry rangelands, was chosen, adapted, mounted, and tested, under actual field conditions. The system consisted mainly of a portable laser transmitter and a tractor-mounted receiver, connected to a guidance display panel. The system was field-tested on 95 ha of land where the system capacity was determined under different terrains, slopes （1-8%）, and ridge spacings （4-12 m）. The easy adaptation and implementation of the CLG to the ＂Vallerani＂ unit tripled the system capacity, improved efficiency and precision, and substantially reduced the cost of constructing micro-catchments for WH. The system is recommended for large-scale rangeland rehabilitation projects in the dry areas, not only in West Asia, but worldwide.
