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PAA Christina FS Cleaning and Dispensing V1.0
Transcript of PAA Christina FS Cleaning and Dispensing V1.0
High Throughput HHC Robot Christina
Test: Cleaning Cycles
Test: Cleaning Force Control
PAA Feasibility Study - Cleaning & Dispensing
Force Control Results
Test control of force across cleaning cycle
Lateral cleaning motion at 1N using Mitsubishi force feedback
Mean force = 1N with ± 0.3N
Peaks match when the cloth is at the end of the cycle
Investigate different cleaning motions such as lissajous and linear
Tests using cloth pressed onto adaptors
Drive engages with barrel wherever it is located
Barrel is primed and then dispense performed, allowing control of dispensing volume