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Analysis of Industrial Robot Structure and Milling Process Interaction for Path Manipulation

Bauer, Jörg ; Friedmann, Martin ; Hemker, Thomas ; Pischan, M. ; Reinl, Christian ; Abele, Eberhard ; Stryk, Oskar von
Hrsg.: Denkena, Berend ; Hollmann, Ferdinand (2013)
Analysis of Industrial Robot Structure and Milling Process Interaction for Path Manipulation.
In: Process Machine Interactions : Predicition and Manipulation of Interactions between Manufacturing Processes and Machine Tool Structures
Buchkapitel, Bibliographie

Kurzbeschreibung (Abstract)

Industrial robots are used in a great variety of applications for handling, welding, assembling and milling operations. Especially for machining operations, industrial robots represent a cost-saving and flexible alternative compared to standard machine tools. Reduced pose and path accuracy, especially under process force load due to the high mechanical compliance, restrict the use of industrial robots for machining applications with high accuracy requirements. In this chapter, a method is presented to predict and compensate path deviation of robots resulting from process forces. A process force simulation based on a material removal calculation is presented. Furthermore, a rigid multi-body dynamic system’s model of the robot is extended by joint elasticities and tilting effects, which are modeled by spring-damper-models at actuated and additional virtual axes. By coupling the removal simulation with the robot model the interaction of the milling process with the robot structure can be analyzed by evaluating the path deviation and surface structure. With the knowledge of interaction along the milling path a general model-based path correction strategy is introduced to significantly improve accuracy in milling operations.

Typ des Eintrags: Buchkapitel
Erschienen: 2013
Herausgeber: Denkena, Berend ; Hollmann, Ferdinand
Autor(en): Bauer, Jörg ; Friedmann, Martin ; Hemker, Thomas ; Pischan, M. ; Reinl, Christian ; Abele, Eberhard ; Stryk, Oskar von
Art des Eintrags: Bibliographie
Titel: Analysis of Industrial Robot Structure and Milling Process Interaction for Path Manipulation
Sprache: Englisch
Publikationsjahr: 2013
Ort: Berlin, Heidelberg
Verlag: Springer
Buchtitel: Process Machine Interactions : Predicition and Manipulation of Interactions between Manufacturing Processes and Machine Tool Structures
Reihe: Lecture Notes in Production Engineering
Kurzbeschreibung (Abstract):

Industrial robots are used in a great variety of applications for handling, welding, assembling and milling operations. Especially for machining operations, industrial robots represent a cost-saving and flexible alternative compared to standard machine tools. Reduced pose and path accuracy, especially under process force load due to the high mechanical compliance, restrict the use of industrial robots for machining applications with high accuracy requirements. In this chapter, a method is presented to predict and compensate path deviation of robots resulting from process forces. A process force simulation based on a material removal calculation is presented. Furthermore, a rigid multi-body dynamic system’s model of the robot is extended by joint elasticities and tilting effects, which are modeled by spring-damper-models at actuated and additional virtual axes. By coupling the removal simulation with the robot model the interaction of the milling process with the robot structure can be analyzed by evaluating the path deviation and surface structure. With the knowledge of interaction along the milling path a general model-based path correction strategy is introduced to significantly improve accuracy in milling operations.

Fachbereich(e)/-gebiet(e): 16 Fachbereich Maschinenbau
16 Fachbereich Maschinenbau > Institut für Produktionsmanagement und Werkzeugmaschinen (PTW)
20 Fachbereich Informatik
20 Fachbereich Informatik > Simulation, Systemoptimierung und Robotik
Hinterlegungsdatum: 26 Apr 2016 10:15
Letzte Änderung: 06 Mär 2019 13:01
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