Precision Robotic Tomography System

The military and its munitions suppliers require an effective means for quality inspection of various types of munitions during production. The use of standard computer tomography scanning (CT scanning) methods, which the military has in place, requiresmunitions to be manually handled and controlled to prevent damage from mishandling and accidental discharge. Carrying munitions through the CT scanning process requires a combination of high force capacity, delicate handling capability, and very accuratepositioning resolution. Robotic arms available for handling the heavy loads (up to 200 lb) have difficulty making careful moves and achieving the required accuracy. DSM proposes a unique combination of accurate robotics, vision-based control, and novelparts-handling concepts to automate the munitions inspection process. DSM's method will enable the careful, rapid and accurate inspection of all types of munitions. Servo-controlled robotics with micron level accuracy and safety concepts for componentscoming in direct contact with the munitions will be used. A part flow-through functionality plan will be developed. A scaled version of the critical carrier interface components and a feasibility concept for components of the generic precision roboticssystems will be developed in Phase I. Precision robotic systems offer the advantage of automating processes that humans are often required to perform. Robotic munitions handling will speed up the munitions production process and reduce the cost tomilitary users. Munitions and other highly energetic materials will be more safely processed and require less human intervention in the inspection process which also increases human safety issues. Finally, this process will enable other CT scanninginspection processes to be done more cheaply and effectively.