Automatic Detection of Industrial Robot Tool Damage Based on Force Measurement

Burghardt, Andrzej; Gierlak, Piotr; Kurc, Krzysztof; Szybicki, Dariusz

doi:10.17559/tv-20181110163252

Cited by 2 publications

(4 citation statements)

References 27 publications

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“…As the result of this functionality, the discussed sensor can be successfully used to control the deburring processes of elements with complex shapes, such as blades from a turbine engine. As a consequence, after using the Force Control sensor [46][47][48][49], it is possible to control the forces and moments generated during the grinding process, which has a direct impact on extending the life of the tools used in the process. The final result of these activities is an improvement in the company's financial results.…”

Section: Test Standmentioning

confidence: 99%

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Automation of the Edge Deburring Process and Analysis of the Impact of Selected Parameters on Forces and Moments Induced during the Process

Falandys,

Kurc,

Burghardt

et al. 2023

Applied Sciences

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The article concerns the possibility of the automation and robotization of the process of deburring jet engine components. The paper presents the construction of a laboratory stand enabling the automation of selected production operations of typical low-pressure turbine blades. The work identifies important parameters and results of the technological process related to the removal of burrs that affect the exactness of the process. The results of the analysis of the impact of individual process parameters on the magnitude of forces and moments occurring during deburring were carried out and presented. The results of initial and detailed tests were presented. Based on the results obtained, it was noticed that doubling the rotational speed of the brush results in a linear increase in torque and an increase in the engagement of the detail in the disc brush, leading to a non-linear increase in torque. It has also been shown that with tool wear, the value of the torque generated by the rotating tool decreases. Based on the results of a comparison of manual and automated process and histogram analysis, results from an automated stand are centered more correctly inside of the required radius range. This means that the repeatability of the process is higher for an automated test stand, which is one of the key aspects of large-scale aviation component manufacturing. Additionally, it was confirmed by visual inspection that all burs had been removed correctly—the deburring operation for all tested work pieces was successful. Based on the results obtained, it was proven that introduction of an automated stand can improve working conditions (by the elimination of the progressive fatigue of employees and the possibility for injury) and allows for the elimination of the negative impact of the machining process on workers. Further areas in which the optimization of the process parameters of the edge deburring can be developed in order to reduce unit costs have also been indicated.

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Section: Test Standmentioning

confidence: 99%

“…As a maximum limit, for automated test stand tests it was decided to use 3000 rpm-this is maximum speed allowed by available industrial grinders. Data were recorded using the Force Control package [43,46,49,50]. Table 3 presents the observed differences between the initial state and the change in force and torque during the operation.…”

Section: Testsmentioning

confidence: 99%

Automation of the Edge Deburring Process and Analysis of the Impact of Selected Parameters on Forces and Moments Induced during the Process

Falandys,

Kurc,

Burghardt

et al. 2023

Applied Sciences

View full text Add to dashboard Cite

show abstract

“…The course of the experiment is shown in the diagram in Figure 9. In the first step, the influence of the damping coefficient D on the stabilization of the set force for different values of forces was investigated [25]. In the ABB documentation, the damping coefficient D is a definition of how large a contact force is required for the robot to move at a certain speed.…”

Section: Test Signal Viewermentioning

confidence: 99%

“…The value of the tool-sample contact force was assumed, and at different values of damping and rate of force buildup, the correctness of realization of the assumed force was measured. The appropriate selection of the parameter is an important element in programming, if the manipulator is to perform cutting operations with high accuracy and in a stable manner (this corresponds to the quality of the machined surface) [25][26][27]. To sum up, the use of the Test Signal Viewer software allows for better use of the Force Control software feature and extends the possibilities of its implementation.…”

Section: Test Signal Viewermentioning

confidence: 99%

TCP Parameters Monitoring of Robotic Stations

et al. 2022

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The impulse for writing the paper is the observation of the works related to the implementation of robotization of processes such as machining, glue application, welding and painting. The abovementioned processes, in addition to the correct implementation of the trajectory, require the definition of various parameters (e.g., speed) in the robot’s software. In the trajectories where the reconfiguration of the robot arms is observed, there are significant errors in the implementation of the defined speed. Robotic technology suppliers, in the event of speed disturbances, manually increase the defined speed value or experimentally select other parameters. It is a cumbersome process, and the lack of information about the process parameters makes it time-consuming and inaccurate. In this paper, one representative process is selected, namely machining performed with various tools by ABB robots. In order for the robotic process to be controlled, it is necessary to compare the defined path with the speed profile. Then, the speed parameters can be controlled and corrected. The approach proposed in the paper allows for improving the quality of implemented robotic processes. It presents the available IT tools for station monitoring and how to use them. The advantages of the proposed solutions and their limitations are shown in the examples of implementation of robotic stations in the industry.

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Automatic Detection of Industrial Robot Tool Damage Based on Force Measurement

Cited by 2 publications

References 27 publications

Automation of the Edge Deburring Process and Analysis of the Impact of Selected Parameters on Forces and Moments Induced during the Process

Automation of the Edge Deburring Process and Analysis of the Impact of Selected Parameters on Forces and Moments Induced during the Process

TCP Parameters Monitoring of Robotic Stations

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