A Robotic Milling System Based on 3D Point Cloud

Gao, Yongzhuo; Gao, Haibo; Bai, Kunpeng; Li, Mingyang; Dong, Wei

doi:10.3390/machines9120355

Cited by 9 publications

(4 citation statements)

References 38 publications

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“…Laser sensors have also been widely used in the field of grinding. Gao, Y et al carried out research on robot grinding technology for welding pretreatment technology of large parts [ 59 ], and adopted a laser profilometer for on-site measurement, planning and processing. At AUTOMATICA 2018 in Munich, Fraunhofer IPA and PILZ, a member of the Ros Industrial Consortium, presented an on-site measure–plan–process grinding robot, as shown in Figure 13 .…”

Section: Classification Of Intelligent Grinding Methodsmentioning

confidence: 99%

Analysis of Current Situation, Demand and Development Trend of Casting Grinding Technology

Liang

Qiao

2022

Micromachines

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Although grinding is essential in the production of castings, the casting grinding process in manufacturing is complicated and there are many difficulties, such as the large amount of noise in the grinding environment, non-structural casting entities, and the inclination in the overall shape–time variation. Even in the face of complex technology and a variety of difficulties, modern casting grinding technology still demands large-batch production, low cost, fast response, thin brittleness, high precision, etc. The grinding process has a long history. This paper focus on its development from a human-operated, mechanical job, to an automatic grinding task based on compliant control theory. However, the methods mentioned above can no longer satisfy the current production need. In recent years, researchers have proposed intelligent grinding methods to meet the needs of modern casting production, and provided various strategies and alternatives to the challenges of machining accuracy, machining efficiency, and surface consistency. The research direction of casting polishing has mainly focused on online robot detection, material removal prediction, constant grinding contact force control, and high-precision matching. Although applications for online detection and constant grinding contact force control exist in industry, there are challenges in material removal prediction and three-dimensional high-precision matching. This paper also compares and analyzes the advantages and disadvantages of different grinding methods, and puts forward some research directions for future work, so as to promote more intelligent and efficient grinding of complex castings in practical application.

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Section: Classification Of Intelligent Grinding Methodsmentioning

confidence: 99%

Analysis of Current Situation, Demand and Development Trend of Casting Grinding Technology

Liang

Qiao

2022

Micromachines

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“…Turntables, also known as rotary tables, positioners, or positioning tables, have emerged as indispensable tools in manufacturing, particularly within robotic manufacturing processes such as milling [1][2][3][4] and welding [5][6][7] due to their ability to improve the degree of freedom of workpieces or tools. Furthermore, turntables find extensive utility in measurement applications, including body scanners [8], industrial parts scanners [9], plant scanners [10], and various 3D reconstruction applications [11][12][13].…”

Section: Introductionmentioning

confidence: 99%

An SVD-based turntable calibration method with multiple reference planes segmented from point clouds

Yang,

Wang,

et al. 2023

Meas. Sci. Technol.

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Turntables play an essential role in various industrial areas due to their ability to improve the DOF (degree of freedom) of workpieces or tools. In applications where positional accuracy of the objects is required, the accuracy of the system parameters of the turntable is critical for the applications to work properly. This paper proposes a new approach to calibrating the turntable system. First, we propose an optimized RANSAC (Random Sample Consensus) algorithm to obtain high-accuracy reference planes from multiple frames of point clouds grabbed from the reference object placed on a turntable. Second, an SVD (Singular Value Decomposition)-based two-step method is proposed to calculate the rotation axis vector and the center position of the turntable based on the reference planes extracted by the modified RANSAC algorithm. Finally, several experiments are performed to verify the proposed methods. Compared with the existing methods, our approach gets the analytical results and tries to correct the rotation angles. The experimental results show that the proposed method considerably improves calibration accuracy and efficiency without complex devices.

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“…In general, traditional computer numerical control (CNC) machine tools in the field of mechanical manufacturing are dedicated to high-accuracy tasks, such as milling, grinding, and drilling, while industrial robots are usually adopted for dull and dirty work scenes to replace human workers. The robots are mainly designed to perform repetitive work with relatively low accuracy, such as transferring, palletizing, and painting [1][2][3]. However, owing to their considerable advantages such as high flexibility, large workspace, and cost-efficiency, industrial robots have attracted increasing attention in the manufacturing industry.…”

Section: Introductionmentioning

confidence: 99%

Stiffness-Oriented Placement Optimization of Machining Robots for Large Component Flexible Manufacturing System

et al. 2022

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A large component flexible manufacturing system provides more application scenarios for industrial robots, and, in turn, these robots exhibit competitive advantages in machining applications. However, the structural characteristic of low stiffness is the main obstacle for the industrial robot. Aiming at obtaining sufficient stiffness in the whole machining process, this paper focuses on robot placement optimization in the flexible manufacturing of large components. The geometric center of the machined feature is selected as, firstly, the base point, and the center-reachable placement space of the robot base is obtained by establishing the kinematic model considering a variety of motion constraints. Then, according to the reachability of the machining feature contour, the global placement space meeting all machining boundaries is further extracted. The mapping relationship between joint force and posture is established, and the most suitable robot placement is selected based on the criterion of global stiffness optimization. A series of numerical and finite element simulations verify the correctness and effectiveness of the proposed optimization strategy. The developed stiffness-oriented placement planning algorithm can provide beneficial references for robotic machining applications.

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A Robotic Milling System Based on 3D Point Cloud

Cited by 9 publications

References 38 publications

Analysis of Current Situation, Demand and Development Trend of Casting Grinding Technology

Analysis of Current Situation, Demand and Development Trend of Casting Grinding Technology

An SVD-based turntable calibration method with multiple reference planes segmented from point clouds

Stiffness-Oriented Placement Optimization of Machining Robots for Large Component Flexible Manufacturing System

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