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Title: Strategy for robot motion and path planning in robot taping
Authors: Yuan, Qilong
Chen, I-Ming
Lembono, Teguh Santoso
Landén, Simon Nelson
Malmgren, Victor
Keywords: Robot taping
Path planning
Issue Date: 2016
Source: Yuan, Q., Chen, I. M., Lembono, T. S., Landén, S. N., & Malmgren, V. (2016). Strategy for robot motion and path planning in robot taping. Frontiers of Mechanical Engineering, 11(2), 195-203.
Series/Report no.: Frontiers of Mechanical Engineering
Abstract: Covering objects with masking tapes is a common process for surface protection in processes like spray painting, plasma spraying, shot peening, etc. Manual taping is tedious and takes a lot of effort of the workers. The taping process is a special process which requires correct surface covering strategy and proper attachment of the masking tape for an efficient surface protection. We have introduced an automatic robot taping system consisting of a robot manipulator, a rotating platform, a 3D scanner and specially designed taping end-effectors. This paper mainly talks about the surface covering strategies for different classes of geometries. The methods and corresponding taping tools are introduced for taping of following classes of surfaces: Cylindrical/extended surfaces, freeform surfaces with no grooves, surfaces with grooves, and rotational symmetrical surfaces. A collision avoidance algorithm is introduced for the robot taping manipulation. With further improvements on segmenting surfaces of taping parts and tape cutting mechanisms, such taping solution with the taping tool and the taping methodology can be combined as a very useful and practical taping package to assist humans in this tedious and time costly work.
ISSN: 2095-0233
DOI: 10.1007/s11465-016-0390-1
Rights: © 2016 Higher Education Press and Springer-Verlag Berlin Heidelberg. This is the author created version of a work that has been peer reviewed and accepted for publication by Frontiers of Mechanical Engineering, Higher Education Press and Springer-Verlag Berlin Heidelberg. It incorporates referee’s comments but changes resulting from the publishing process, such as copyediting, structural formatting, may not be reflected in this document. The published version is available at: [].
Fulltext Permission: open
Fulltext Availability: With Fulltext
Appears in Collections:MAE Journal Articles

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