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Tool path adaption based on optical measurement data for milling with industrial robots

Abele, Eberhard and Schützer, Klaus and Bauer, Jörg and Pischan, Matthias (2012):
Tool path adaption based on optical measurement data for milling with industrial robots.
6, In: Production Engineering : WGP, Springer Verlag, Heidelberg, pp. 459-465, ISSN 0944-6524, [Article]

Abstract

Industrial robots are used in a great variety of applications for handling, welding and milling operations. They represent a cost-saving and flexible alternative for machining applications. A reduced pose and path accuracy, especially under process force load due to the high mechanical compliance, restrict the use of industrial robots for further machining applications. Test results showed that these deviations range up to 0.6 mm. In this paper, a method is presented to determine the resulting path deviation of the robot under process force by using a structured light scanner. The obtained data is compared with the CAD (Computer Aided Design) data of the machined part within a developed software module. Additionally, the developed module provides functions for manipulation, registration of STL (Surface Tessellation Language) surface point clouds and a postprocessor for program translation. The comparison is performed using a dexel discretization of each data set. Based on this comparison the robot path is adapted to improve the machining quality. This method can be applied to 3- and 5-axis machining operations. The results show that the deviation can be reduced to 0.1 mm.

Item Type: Article
Erschienen: 2012
Creators: Abele, Eberhard and Schützer, Klaus and Bauer, Jörg and Pischan, Matthias
Title: Tool path adaption based on optical measurement data for milling with industrial robots
Language: English
Abstract:

Industrial robots are used in a great variety of applications for handling, welding and milling operations. They represent a cost-saving and flexible alternative for machining applications. A reduced pose and path accuracy, especially under process force load due to the high mechanical compliance, restrict the use of industrial robots for further machining applications. Test results showed that these deviations range up to 0.6 mm. In this paper, a method is presented to determine the resulting path deviation of the robot under process force by using a structured light scanner. The obtained data is compared with the CAD (Computer Aided Design) data of the machined part within a developed software module. Additionally, the developed module provides functions for manipulation, registration of STL (Surface Tessellation Language) surface point clouds and a postprocessor for program translation. The comparison is performed using a dexel discretization of each data set. Based on this comparison the robot path is adapted to improve the machining quality. This method can be applied to 3- and 5-axis machining operations. The results show that the deviation can be reduced to 0.1 mm.

Journal or Publication Title: Production Engineering : WGP, Springer Verlag, Heidelberg
Volume: 6
Divisions: 16 Department of Mechanical Engineering
16 Department of Mechanical Engineering > Institute of Production Technology and Machine Tools (PTW)
Date Deposited: 17 Oct 2012 10:08
Alternative keywords:
Alternative keywordsLanguage
Industrial robots � Machining � Path adaption � Camera data � Dexel representationUNSPECIFIED
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