Effect of Robot Dynamics on the Machining Forces in Robotic Milling

Cen, Lejun; Melkote, Shreyes N.

doi:10.1016/j.promfg.2017.07.034

Cited by 56 publications

(24 citation statements)

References 34 publications

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“…A further experimental work was needed to be performed to validate the method. Cen and Melkote [107] developed a milling force model combining robot dynamics and external force on robot stiffness. Via the model, their results showed that the milling forces were reduced by 50-70%.…”

Section: Machining Processmentioning

confidence: 99%

Industrial robotic machining: a review

Wang

2019

Int J Adv Manuf Technol

271

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For the past three decades, robotic machining has attracted a large amount of research interest owning to the benefit of cost efficiency, high flexibility and multi-functionality of industrial robot. Covering articles published on the subjects of robotic machining in the past 30 years or so; this paper aims to provide an up-to-date review of robotic machining research works, a critical analysis of publications that publish the research works, and an understanding of the future directions in the field. The research works are organised into two operation categories, low material removal rate (MRR) and high MRR, according their machining properties, and the research topics are reviewed and highlighted separately. Then, a set of statistical analysis is carried out in terms of published years and countries. Towards an applicable robotic machining, the future trends and key research points are identified at the end of this paper.

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Section: Machining Processmentioning

confidence: 99%

Industrial robotic machining: a review

Wang

2019

Int J Adv Manuf Technol

271

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“…As stated previously, sensor implementation on robots is quite easy, and there is a need to study the effect of the robot dynamics in the machining processes yet. The work performed by Cen et al [80] studies the effect of robot structural vibration and cutting forces in a robotic milling process. Studies like this are a necessity for a better understanding of the forces developed in robot machining, as the easy sensor implementation in robots and their autonomy to correct and adjust the process reveals promising applications in the area of the machining processes.…”

Section: Cutting Force Determination In Robotic Machiningmentioning

confidence: 99%

Cutting Forces Assessment in CNC Machining Processes: A Critical Review

Sousa

Silva

Fecheira

et al. 2020

Sensors

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Machining processes remain an unavoidable technique in the production of high-precision parts. Tool behavior is of the utmost importance in machining productivity and costs. Tool performance can be assessed by the roughness left on the machined surfaces, as well as of the forces developed during the process. There are various techniques to determine these cutting forces, such as cutting force prediction or measurement, using dynamometers and other sensor systems. This technique has often been used by numerous researchers in this area. This paper aims to give a review of the different techniques and devices for measuring the forces developed for machining processes, allowing a quick perception of the advantages and limitations of each technique, through the literature research carried out, using recently published works.

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“…A cutting force model for cylindrical helical end milling is incorporated into the equation of motion of the robot to obtain the force vector F E , without considering the regenerative effect and the effect of the dynamic response of the robot on the cutting force [40,41]. In our system, up milling is chosen due to the concern with a backlash of the system.…”

Section: Milling Force Modelmentioning

confidence: 99%

Workpiece Pose Optimization for Milling with Flexible-Joint Robots to Improve Quasi-Static Performance

Qin

Xiong

2019

Applied Sciences

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Although industrial robots are widely used in production automation, their applications in machining have been limited because of the structural vibrations induced by periodic cutting forces. Since the dynamic characteristics of an industrial robot depends on its configuration, the responses of the robot structure to the cutting forces are affected by how the workpiece is placed within the workspace of the robot. This paper presents a method for workpiece pose optimization for a robotic milling system to improve the quasi-static performance during machining. Since the milling forces are time-varying due to the characteristics of the multi-tooth and discontinuity of milling, these forces can excite vibrations inside the robot structure. To address this issue, a structural dynamics model is established for industrial robots, considering their joint flexibility, and a milling force formulation is incorporated into the robot dynamics model to investigate the forced vibrations of the flexible joints. Then, the quasi-static performance of the robotic machining system is evaluated by the vibration-induced offset of the cutter tool that is mounted on the end-effector. Finally, an optimization approach is given for the workpiece pose to minimize the cutter tool offset under the periodic milling force. A numerical simulation demonstrates that the optimal workpiece pose can significantly reduce the overall tool offset during machining and can lower the variation of the tool offset along the milling path.

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Effect of Robot Dynamics on the Machining Forces in Robotic Milling

Cited by 56 publications

References 34 publications

Industrial robotic machining: a review

Industrial robotic machining: a review

Cutting Forces Assessment in CNC Machining Processes: A Critical Review

Workpiece Pose Optimization for Milling with Flexible-Joint Robots to Improve Quasi-Static Performance

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