This paper addresses inspection techniques that can be performed by microrobots used for fabricating three dimensional structures. In contrast to most commercial rapid prototyping processes, the parallelism afforded by microrobot teams allows incremental inspection of structures during assembly. In the present case, this approach is applied to parts fabricated from carbon fiber struts bonded with UV-cured epoxy. Preliminary tests involving thermal and vibrational inspection methods are described and compared with the results of FEA models of the joints. Vibrational inspection performed by microrobots and recorded using a directional microphone, characterizes bond joint natural frequency with good resolution (an average measurement standard deviation of 5Hz over a range of 650–1215 Hz). These effective stiffness measurements are correlated with ultimate bond strength as well. The measurements are sufficient to distinguish between joints that do or do not have desired amounts of adhesive.
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ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
August 4–7, 2013
Portland, Oregon, USA
Conference Sponsors:
- Design Engineering Division
- Computers and Information in Engineering Division
ISBN:
978-0-7918-5584-3
PROCEEDINGS PAPER
Incremental Inspection for Microrobotic Quality Assurance
David L. Christensen,
David L. Christensen
Stanford University, Stanford, CA
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Elliot W. Hawkes,
Elliot W. Hawkes
Stanford University, Stanford, CA
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Annjoe Wong-Foy,
Annjoe Wong-Foy
SRI International, Menlo Park, CA
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Ronald E. Pelrine,
Ronald E. Pelrine
SRI International, Menlo Park, CA
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Mark R. Cutkosky
Mark R. Cutkosky
Stanford University, Stanford, CA
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David L. Christensen
Stanford University, Stanford, CA
Elliot W. Hawkes
Stanford University, Stanford, CA
Annjoe Wong-Foy
SRI International, Menlo Park, CA
Ronald E. Pelrine
SRI International, Menlo Park, CA
Mark R. Cutkosky
Stanford University, Stanford, CA
Paper No:
DETC2013-12790, V001T09A030; 9 pages
Published Online:
February 12, 2014
Citation
Christensen, DL, Hawkes, EW, Wong-Foy, A, Pelrine, RE, & Cutkosky, MR. "Incremental Inspection for Microrobotic Quality Assurance." Proceedings of the ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 1: 15th International Conference on Advanced Vehicle Technologies; 10th International Conference on Design Education; 7th International Conference on Micro- and Nanosystems. Portland, Oregon, USA. August 4–7, 2013. V001T09A030. ASME. https://doi.org/10.1115/DETC2013-12790
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