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The purpose of this paper is to develop a robotic tooth brushing simulator mimicking realistic tooth brushing motions, thereby facilitating greater understanding of the generation of realistic tooth brushing motion for optimal design of toothbrushes.

Tooth brushing motions were measured via a motion capture system. Different motion patterns of brushing were analysed. A series of elliptical motion segments were generated by interpolating ellipse‐like trajectories. Furthermore, a path generation algorithm for brushing simulation was proposed. A path planning system incorporating robot motion control was developed to simulate realistic tooth brushing. The generality and efficiency of the proposed algorithm was demonstrated through simulation and experimental results.

The interpolation of ellipse‐like trajectories can generate elliptical motion segments. Furthermore, realistic tooth brushing can be achieved by integrating the elliptical motion segments into the path generated from the surfaces of teeth. The brushing simulator demonstrated good reproducibility of clinically standardized tooth brushing.

A robotic toothbrush assessment system is a potential application to the robotic tooth brushing simulator by incorporating control of brushing variables, including brushing pressure, speed and temperature.

This study demonstrates the feasibility of using robotic simulation techniques towards improved realistic human tooth brushing motions simulation for optimal design of tooth brushes.

MATRAMarconi Space is the first fully integrated European space company (51 % Matra, 49 % GEC Marconi). It employs a staff of 3200 – 2000 in France and 1200 in Great Britain — spread over five sites. In 1992, it achieved a turnover of 5.6 billion francs ($1.05 billion).

This paper aims to verify the workspace and movement performance of a redundantly actuated humanoid chewing robot.

A redundantly actuated humanoid chewing robot with 6-PUS linkages and two higher kinematic pairs (HKPs) is introduced. The design of HKPs is specified by mimicking the temporomandibular joint (TMJ) structure obtained through a computed tomography scan of the mastication system. The border movement, mouth-opening trajectory and velocity of subjects’ lower incisor point are measured by using the mandibular kinesiograph. Based on the kinematics, the envelope of the workspace is analyzed. The workspace and mouth-opening movement experiments are carried out. The border movement of the lower incisor point is measured. The mouth-opening trajectory is planned and tested on the chewing robot.

Comparing with measurement results of border movement and mouth-opening movement of human, it is shown that the humanoid chewing robot can meet the workspace requirements and is able to perform mouth-opening movement like human-beings.

The chewing robot is designed to reproduce human jaw movements and application in test of dental components and materials or evaluation of food textural properties.

The chewing robot is inspired by the mastication system which itself is mechanically redundant because of the TMJ and more muscles than required. The novel spatial redundantly actuated chewing robot is the first of this kind with two HKPs to mimic the human TMJ and is a higher fidelity mechanism.

The development of robotized welding is truly impressive and is today one of the major application areas for industrial robots. The first industrial robots were introduced in the early 1960s for material transfer and machine tending. Not long after that, robots were used for spot welding and in the early 1970s for arc welding as well. During the years, significant developments have taken place both concerning the robot equipment and the welding equipment to meet the different challenges within the application area. This paper describes the development and progress of robotization in welding over the years and also some projections and trends for the near future.

This paper aims to propose a new technique for programming robotized machining tasks based on intuitive human–machine interaction. This will enable operators to create robot programs for small-batch production in a fast and easy way, reducing the required time to accomplish the programming tasks.

This technique makes use of online walk-through path guidance using an external force/torque sensor, and simple and intuitive visual programming, by a demonstration method and symbolic task-level programming.

Thanks to this technique, the operator can easily program robots without learning every robot-specific language and can design new tasks for industrial robots based on manual guidance.

The main contribution of the paper is a new procedure to program machining tasks based on manual guidance (walk-through teaching method) and user-friendly visual programming. Up to now, the acquisition of paths and the task programming were done in separate steps and in separate machines. The authors propose a procedure for using a tablet as the only user interface to acquire paths and to make a program to use this path for machining tasks.

To present a new special explosive ordnance disposal (EOD) robot designed to operate onboard airplanes.

The design approach adopted is multidisciplinary: mechanical and control architectures are conceived simultaneously. Modularity and lifecycle are considered. Motion and EOD tasks are controlled in tele‐operation.

A new EOD robot was designed in detail and it is ready to be built. A dynamic simulator has been written and set‐up, including a virtual reality module. The simulator is used to define the control logics. Simulation results are satisfactory. The simulator can be used as a training platform for the bomb squads.

The intent to keep the cost of the robot low conditioned the selection of the materials. Only aluminium and standard composites (like carbon fibers composites) have been used. A higher degree of freedom of the arm could increase the usability of the system; to limit the cost, the degree of freedom was limited to seven. A decision support system based on an expert system interfaced with the simulator could improve the performance of the system.

A new EOD robot will be built and commercialised soon by the industrial partner Ansaldo Ricerche.

The EOD robots available for use inside aircrafts are discussed. A new system named AirEOD is presented, including mobile platform, dexterous arm and all related design and control issues.

The paper aims to present the concept, the layout design and the evaluation performed of a flexible field factory for construction industry. Both the concept and layout are focused on flexibility and mobility factors, providing a versatile system for manufacturing and assembly that can be transported to construction sites without need of special permissions.

The design is based on the design for manufacture and assembly (DFMA) principles, lean manufacturing, and construction industry experts' knowledge.

The developed factory layout is dimensioned to fit in a standard 20‐feet‐long container. Simulation processes have been run to verify the viability of the system. The time estimates calculated in the simulations are compared with traditional in and off‐site construction method estimates, providing quantified cost and time benefits.

This paper presents the concept of the robotized field factory designed for on‐site prefabrication, the design of which began during the EU 6FP ManuBuild Project. This reconfigurable and flexible system is oriented to the production of small and medium size modular systems. The viability of the field factory has been evaluated thanks to the application of a modular system for building installations called Service Core. Its design has been based on DFMA and lean principles as well as the expertise from construction partners from the ManuBuild Project.

This paper aims to propose a translation library capable of generating robots proprietary code after their offline programming has been performed in a software application, named AdaptPack Studio, running over a robot simulation and offline programming software package.

The translation library, named AdaptPack Studio Translator, is capable to generate proprietary code for the Asea Brown Boveri, FANUC, Keller und Knappich Augsburg and Yaskawa Motoman robot brands, after their offline programming has been performed in the AdaptPack Studio application.

Simulation and real tests were performed showing an improvement in the creation, operation, modularity and flexibility of new robotic palletizing systems. In particular, it was verified that the time needed to perform these tasks significantly decreased.

The design and setup of robotics palletizing systems are facilitated by an intuitive offline programming system and by a simple export command to the real robot, independent of its brand. In this way, industrial solutions can be developed faster, in this way, making companies more competitive.

The effort to build a robotic palletizing system is reduced by an intuitive offline programming system (AdaptPack Studio) and the capability to export command to the real robot using the AdaptPack Studio Translator. As a result, companies have an increase in competitiveness with a fast design framework. Furthermore, and to the best of the author’s knowledge, there is also no scientific publication formalizing and describing how to build the translators for industrial robot simulation and offline programming software packages, being this a pioneer publication in this area.

The paper aims to address the modelling and optimization of fully flexible assembly systems (F‐FAS), a new concept in flexible automation recently introduced by the authors.

The paper presents a mathematical model of the F‐FAS, which makes it possible to predict its efficiency, throughput and unit direct production costs, correlating such values with system and production variables. The mathematical model proposed in the paper was derived from experimental and simulation data, which were analysed for a wide range of different productions and system settings.

Correlation analysis revealed that there are three main determinants of the efficiency of the F‐FAS: the number of components (types of parts) used to assemble the models (production variable); the average complexity of the models to be assembled (production variable); the ratio of the average perimeter of components (production variable) over a significant dimension of the working plane (system variable). Such parameters makes it possible to estimate the maximum attainable efficiency of the F‐FAS, and to calculate the optimal setting of the feeder which makes it possible to obtain such efficiency during the execution of the whole production order.

The model presented in the paper makes it possible to quantify in advance the real potential of the F‐FAS, according to the characteristics of the production mix and type of components to be assembled. By using the methodologies presented in the paper, one can first evaluate the convenience of the F‐FAS approach with respect to traditional FAS technology and manual assembly, then identify the optimal design and settings of the F‐FAS, according to the needs of a specific application. As a result, not only can the investment on the automated assembly system be accurately evaluated in advance, but also the return on investment can be maximized.

Aims to present general concepts and framework for increasing the flexibility in robotic arc welding with respect to use of sensors and small series production.

Presents a conceptual model with a framework that integrates existing tools and needed developments and research to increase the usefulness of sensors in robotic arc welding. The conceptual model is based on research within the field which covers supporting tools like robot simulation, sensor modelling and handling and optimization issues with respect to the robot task execution. A descriptive structure and concept is outlined to include welding procedure specifications (WPS) as a key module to provide an integrated and holistic control model of the robotic.

Finds that the outlined conceptual model and architecture supports an increased flexibility of sensor controlled robots for arc welding applications. The arguments are specifically made for small series and one‐off production.

The paper is limited to arc welding applications and the concept and arguments are made with small series and one‐off production in mind.

Increased use of sensors and robots in small series production.

Introduces a holistic approach for task level control of a robot which introduces a structured way for integrated and coordinated control of the arc welding task. The objective is to execute the welding task with maintained robustness with respect to predefined specifications (quality, productivity).