Motion planning for robotic spray cleaning with environmentally safe solvents

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Automatic motion planning of a spray cleaning robot with collision avoidance is presented in this paper. In manufacturing environments, electronic and mechanical components are traditionally cleaned by spraying or dipping them using chlorofluorocarbon (CFC) solvents. As new scientific data show that such solvents are major causes for stratospheric ozone depletion, an alternate cleaning method is needed. Part cleaning with aqueous solvents is environmentally safe, but can require precision spraying at high pressures for extended time periods. Operator fatigue during manual spraying can decrease the quality of the cleaning process. By spraying with a robotic manipulator, the necessary spray accuracy and … continued below

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6 p.

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Hwang, Yong K.; Meirans, L. & Drotning, W. D. September 1, 1993.

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  • Sandia National Laboratories
    Publisher Info: Sandia National Labs., Albuquerque, NM (United States)
    Place of Publication: Albuquerque, New Mexico

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Description

Automatic motion planning of a spray cleaning robot with collision avoidance is presented in this paper. In manufacturing environments, electronic and mechanical components are traditionally cleaned by spraying or dipping them using chlorofluorocarbon (CFC) solvents. As new scientific data show that such solvents are major causes for stratospheric ozone depletion, an alternate cleaning method is needed. Part cleaning with aqueous solvents is environmentally safe, but can require precision spraying at high pressures for extended time periods. Operator fatigue during manual spraying can decrease the quality of the cleaning process. By spraying with a robotic manipulator, the necessary spray accuracy and consistency to manufacture highreliability components can be obtained. Our motion planner was developed to automatically generate motions for spraying robots based on the part geometry and cleaning process parameters. For spraying paint and other coatings a geometric description of the parts and robot may be sufficient for motion planning, since coatings are usually done over the visible surfaces. For spray cleaning, the requirement to reach hidden surfaces necessitates the addition of a rule-based method to the geometric motion planning.

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6 p.

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OSTI; NTIS; GPO Dep.

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  • Institute of Electrical and Electronics Engineers (IEEE) and Tsukuba international workshop on advanced robotics,Tsukuba (Japan),8-9 Nov 1993

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  • Other: DE93041140
  • Report No.: SAND--93-2026C
  • Report No.: CONF-9311103--1
  • Grant Number: AC04-76DP00789
  • Office of Scientific & Technical Information Report Number: 10191630
  • Archival Resource Key: ark:/67531/metadc1394006

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Office of Scientific and Technical Information (OSTI) is the Department of Energy (DOE) office that collects, preserves, and disseminates DOE-sponsored research and development (R&D) results that are the outcomes of R&D projects or other funded activities at DOE labs and facilities nationwide and grantees at universities and other institutions.

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  • September 1, 1993

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  • Jan. 12, 2019, 4:41 p.m.

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  • Jan. 23, 2019, 1:32 p.m.

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Hwang, Yong K.; Meirans, L. & Drotning, W. D. Motion planning for robotic spray cleaning with environmentally safe solvents, article, September 1, 1993; Albuquerque, New Mexico. (https://digital.library.unt.edu/ark:/67531/metadc1394006/: accessed July 16, 2024), University of North Texas Libraries, UNT Digital Library, https://digital.library.unt.edu; crediting UNT Libraries Government Documents Department.

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