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Prediction of the Tool Displacement for Robot Milling Applications using Co-Simulation of an Industrial Robot and a Removal Process

Abele, Eberhard and Bauer, Jörg and Pischan, Matthias and Fiedmann, Martin and Hemker, Thomas and Stryk, Oskar von and Stryk, Oskar von (2010):
Prediction of the Tool Displacement for Robot Milling Applications using Co-Simulation of an Industrial Robot and a Removal Process.
In: Proceedings of the CIRP 2nd International Conference Process Machine Interactions, Vancouver, BC, Canada, June 10-11, 2010, [Conference or Workshop Item]

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. In this paper a method is presented to predict the resulting path deviation of the robot under process force. A process force simulation based on a material removal calculation is proposed. The presented material removal simulation allows the calculation of the chip geometry even in complex cutter work piece engagement conditions. The removal simulation is validated by means of conducted milling tests. By coupling the removal simulation with a robot model the path deviation can be predicted.

Item Type: Conference or Workshop Item
Erschienen: 2010
Creators: Abele, Eberhard and Bauer, Jörg and Pischan, Matthias and Fiedmann, Martin and Hemker, Thomas and Stryk, Oskar von and Stryk, Oskar von
Title: Prediction of the Tool Displacement for Robot Milling Applications using Co-Simulation of an Industrial Robot and a Removal Process
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. In this paper a method is presented to predict the resulting path deviation of the robot under process force. A process force simulation based on a material removal calculation is proposed. The presented material removal simulation allows the calculation of the chip geometry even in complex cutter work piece engagement conditions. The removal simulation is validated by means of conducted milling tests. By coupling the removal simulation with a robot model the path deviation can be predicted.

Uncontrolled Keywords: Milling, Industrial Robot, Machine Process Interaction, Material removal simulation
Divisions: 16 Department of Mechanical Engineering
16 Department of Mechanical Engineering > Institute of Production Management, Technology and Machine Tools (PTW)
20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
Exzellenzinitiative
Exzellenzinitiative > Graduate Schools
Exzellenzinitiative > Graduate Schools > Graduate School of Computational Engineering (CE)
Zentrale Einrichtungen
Event Title: Proceedings of the CIRP 2nd International Conference Process Machine Interactions
Event Location: Vancouver, BC, Canada
Event Dates: June 10-11, 2010
Date Deposited: 20 Nov 2013 09:00
Identification Number: 2010:AbeleBauerPrischanStrykFriedmannHemker
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