Offline Optimal Probe Orientation Strategy for Gantry Systems

Offline Optimal Probe Orientation Strategy for Gantry Systems The thesis presents algorithms and scripts for exact and efficient modelling of collision detection and motion developed during the internship in Sensor Coatings Systems Limited (SCS). Collision detection and motion control are critical aspects of revolution thermal temperature based simulation of measurement process. The thesis is a fusion not only of robotic and programming subject, but requires in-depth knowledge of geometry for the rotation, translation matrices and for the identification of the correct algorithm. This paper concerns the development of one script, that represents two methods or ideas to allocate an amount of points on the component's surfaces: the first method design the process for perpendicular measurements, where the touch probe of the gantry systems measure the surface perpendicularly to the surface with an exact angle of 90 degrees; the second strategy is for parallel measurements, in which the touch probe moves itself parallel to the surface. The development and realisation of the script is divided in three periods: develop, simulation and testing. The develop period concerns writing and thinking of the algorithms of the two strategies utilising a programming language, Python. It requires in-depth study of the issue, with a research of the possible solutions and design of the best approach. The simulation step includes the analysis through FreeCAD to obtain an offline testing to understand the adeguate behaviour of the measurement process. The software illustrates the outcomes, the location of the points to be measured. Also, through the FreeCAD file it is possible to identify which points are rejected and which points are reliable for measurements avoiding collision. The last and the main period verify the security and correctness of the script testing manually in the laboratory. It requires a good knowledge of the gantry systems and the geometry of the motions. The testing time requires a large number of attempt and inspection to authenticate the script. In the end, the code was optimised and enhanced to use it also for the robot ABB, so achieving a complete awareness of it. Nowadays, the Sensor Coating Systems Limited is able to perform automated thermal measurements both with gantry systems and with the robot ABB facilitating and decreasing the measurement time. Its sensor technology development is accurate in detecting temperature, and detecting consequently enables the optimisation of engine performance.