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Robot positioning accuracy is critically important in many manufacturing applications. While geometric errors such as imprecise link length and assembly misalignment dominate positioning errors in industrial robots, significant errors also arise from non-uniformities in bearing systems and strain wave gearings. These errors are characteristically more complicated than the fixed geometric errors in...
Electrohydrodynamic jet printing (e-jet) is a micro additive manufacturing process in which polarizable liquid inks are extracted from a microcapillary nozzle by an electric field and deposited onto a substrate. This process can be broken into two discrete phases: build up to jetting, and jetting of material. This decomposition allows e-jet to be modeled as a hybrid dynamical system. In order to develop...
Bearing systems and harmonic drives in robots introduce complex kinematic errors which result in joint kinematic errors that reduce the accuracy of their manipulators. Typical calibration methods do not consider these complex errors, thus, limiting post calibration performance. In this paper, a method of modeling and calibrating robot kinematic errors by building a joint-dependent kinematic error...
Laser Metal Deposition (LMD) is an additive manufacturing process whose dynamics are driven by complex heat transfer and fluid flow phenomena. The LMD process, along with every additive manufacturing process, is fundamentally a two-dimensional process possessing both temporal (or spatial) domain dynamics and propagation of information from layer to layer. However, modeling the two-dimensionality of...
Laser Metal Deposition (LMD) is a layer-based manufacturing process in which a laser and powdered metal are used to create a molten bead that is then traced along a path to create functional parts. The properties of the structure, including shape and material microstructure, are the result of complex interactions between the laser, the powder, the part substrate and other factors. Thus, a control...
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