Automated Shingling Team 1, Robot Autonomy Spring 2016 Outline - - PowerPoint PPT Presentation

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Automated Shingling Team 1, Robot Autonomy Spring 2016 Outline - - PowerPoint PPT Presentation

Oct 18, 2022 284 likes •411 views

Automated Shingling Team 1, Robot Autonomy Spring 2016 Outline The Problem Background What were doing Surface Tessellation Shingle Preparation Trajectory Generation Work Object Definitions Final Product The Challenge Give the dFAB

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SLIDE 1

Automated Shingling

Team 1, Robot Autonomy Spring 2016

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SLIDE 2

Outline

The Problem Background What we’re doing Surface Tessellation Shingle Preparation Trajectory Generation Work Object Definitions Final Product

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SLIDE 3

Give the dFAB lab a means of generating, visualizing, and implementing shingle patterns for complex surfaces. Integrate it with their existing workflow and output the result using an ABB IRB 4400.

The Challenge

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SLIDE 4

Background

  • Shingling are a manual-labor

intensive process

  • Architects are looking tools for

both design and implementation

  • Tools used integrated with

architect’s workflow

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SLIDE 5

Approach

Software: Rhino Grasshopper HAL ABB Robot Studio Hardware ABB IRB 4400 Custom End-Effector

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SLIDE 6

Surface Tessellation

  • Break the surface into a grid
  • Analyse the grid sequentially

and divide into shingles based

  • n the parameters
  • Calculate a grasp point and

grasp normal for each shingle

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SLIDE 7

Shingle Preparation

  • Process the prepared cut list
  • Generate file for laser cutting

the shingles

  • Generate trajectories for the

robot to prepare the shingles

  • Modify shingle by engraving

serial number and drilling holes as per our holder

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SLIDE 8

Trajectory Generation

  • Plan approach towards the pick

and place points

  • Train the tool/end effector and

the objects in the environment

  • Configure modules for I/O ports

to actuate the end effector

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SLIDE 9

Work Object Definitions (Reference Objects)

  • 2 reference frames (Foam Piece and

Shingle Dispenser)

  • Coordinate frame definition on software
  • Association of trajectory points to

reference frames

  • Training robot and defining coordinate

frames in robot frame

  • Execution
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SLIDE 10

Inputs

  • Surface to be shingled
  • Maximum Dimensions of a shingle
  • Gap between shingles in the same row
  • Overlap Between shingles from 2 different

rows

  • Pattern on the bottom of each row
  • List of shingles generated and their file (to

be input in a laser cutter)

  • Pick points
  • Place points
  • Nail Points
  • Trajectory
  • RAPID Code

Outputs

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SLIDE 11

Final Product - Video

https://www.youtube.com/watch?v=rDl49Gicg_g