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Proceedings of CAD'17, 2017, 322-326
An Overview of an Enhanced Multi-Systems Robotized Digitizing

Matthias Bordron, Olivier Bruneau, Charyar Mehdi-Souzani, Lurpa ENS Paris-saclay, Université Paris13

Abstract. Nowadays, robots are widely used in industry for repetitive tasks with low pose accuracy as handling, painting or welding. Usually, industrial robots have poor pose performances that limit their use for high precision task especially for measurement applications. However they offer a great flexibility of movement with 6 degrees of freedom (DoFs) and a high speed of execution. Those characteristics stay very attractive and could allow the 3D digitizing of large manufacturing parts taking advantage of the continue reorientation offered by robots while facilitating its integration in production lines.  But this could not be done without increasing the pose accuracy of the robot, as defined in ISO 9283. In this context this paper deals with the introduction of a 3D digitizing cell using a robot as displacement system and addresses an approach to use it for parts digitizing with given quality required by the applications. The strategy introduced paid also attention to other optimization criteria such as digitizing speed. The result will be a part digitized with a given quality and an optimized speed. The technology chosen for this cell is a Laser Triangulation Sensor (LTS) for scanning and a 6 axis robot to support the digitizing. The digitizing result highly depends on the LTS and on the robot performances, which are both studied in this paper.

Keywords. 3D digitizing, Robot Modeling, multi-systems, Path planning, Quality Optimization

DOI: 10.14733/cadconfP.2017.322-326