Babin, William, Joubair, Ahmed et Tahan, Souheil-Antoine.
2025.
« Experimental repeatability assessment of a metrology-assisted robotic assembly system using iGPS tracking ».
In Proceedings of the CSME-CFDSC-CSR 2025 International Congress (Montreal, QC, Canada, May 25-28, 2025)
Coll. « Progress in Canadian Mechanical Engineering », vol. 8.
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Résumé
Large-scale metrology tools like indoor GPS (iGPS) are increasingly used in robotic assembly for large and complex parts due to their accuracy over extensive workspaces. iGPS is particularly suitable for jigless assembly, where high accuracy and repeatability are required without the need for traditional fixtures. However, integrating iGPS into Measurement-Assisted Assembly (MAA) systems raises uncertainties regarding repeatability, which is critical for industrial applications. This empirical study evaluates the repeatability of a robotic MAA system using iGPS as an external encoder. The experimental setup includes a six-axis robotic arm, a pre-measured artifact simulating an assembly part, and an iGPS system for position and orientation feedback. Positional repeatability was assessed under controlled conditions inspired by the ISO 9283 standard. Results showed a spatial mean positional repeatability of 31 ?m during static mounting and 26 ?m when the artifact was removed between each measurement (both with 99.73% confidence). These results validate the potential of a robot augmented with iGPS tracking as a robust system for guiding jigless assembly. The developed framework can be used in the future to better understand accuracy and repeatability of iGPS-augmented robotic systems.
| Type de document: | Compte rendu de conférence |
|---|---|
| Éditeurs: | Éditeurs ORCID Hof, Lucas A. NON SPÉCIFIÉ Di Labbio, Giuseppe NON SPÉCIFIÉ Tahan, Antoine NON SPÉCIFIÉ Sanjosé, Marlène NON SPÉCIFIÉ Lalonde, Sébastien NON SPÉCIFIÉ Demarquette, Nicole R. NON SPÉCIFIÉ |
| Professeur: | Professeur Tahan, Antoine |
| Affiliation: | Génie mécanique |
| Date de dépôt: | 18 déc. 2025 15:08 |
| Dernière modification: | 18 déc. 2025 15:08 |
| URI: | https://espace2.etsmtl.ca/id/eprint/32361 |
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