Holistic process planning chain for robot machining

Denkena, Berend; Brüning, Jan; Windels, Lars; Euhus, Dirk; Kirsch, S.; Overbeck, Daniel; Lepper, Thomas

doi:10.1007/s11740-017-0771-2

Cited by 7 publications

(4 citation statements)

References 11 publications

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“…Energy efficiency was given an attention by Uhlmann et al [145], and they identified the energy status which provides energy-optimised path planning in CAM system of robot machining. In addition, Denkena et al [146] discussed the needed changes of the conventional process planning chain to adapt robotic machining. A remote robot-machining concept via Internet was presented for robot machining by Lee et al [147].…”

Section: Other Aspectsmentioning

confidence: 99%

Industrial robotic machining: a review

Wang

2019

Int J Adv Manuf Technol

264

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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: Other Aspectsmentioning

confidence: 99%

Industrial robotic machining: a review

Wang

2019

Int J Adv Manuf Technol

264

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“…This low frequency comes from the poor stiffness in the gear box of the first joint [164]. During process planning, Denkena et al consider the errors resulting from the gear boxes, such as compliance and backlash [69,165]. They use the results of the milling process simulation for a teach-less process monitoring.…”

Section: Enabling Industrial Robots For Specific Tasksmentioning

confidence: 99%

Robots in machining

et al. 2019

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Robotic machining centers offer diverse advantages: large operation reach with large reorientation capability, and a low cost, to name a few. Many challenges have slowed down the adoption or sometimes inhibited the use of robots for machining tasks. This paper deals with the current usage and status of robots in machining, as well as the necessary modelling and identification for enabling optimization, process planning and process control. Recent research addressing deburring, milling, incremental forming, polishing or thin wall machining is presented. We discuss various processes in which robots need to deal with significant process forces while fulfilling their machining task.

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“…It models the rotational and tilting compliance of the 6 robot axes as well as the compliance of the linked arm (3) and the arm (5). Figure 1 shows the 14 coordinate systems of the robot referencing to the base coordinate system (0).…”

Section: Compliance Modelmentioning

confidence: 99%

“…In the field of path planning, very comprehensive solutions have been developed which are knowledge-based and therefore do not require any additional sensors during operation. Process force models are coupled with multi-body-models of robots to predict compliance [3,14,16] or backlash [5] caused path deviations and compensate or reduce them. They can be combined with model-based workpiece placing and process parameter optimization [18].…”

Section: Introduction and State Of The Artmentioning

confidence: 99%

Hybrid compliance compensation for path accuracy enhancement in robot machining

Hähn

Weigold

2020

Prod. Eng. Res. Devel.

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Robot machining processes with high material removal rates lack of high path accuracy mainly due to the low stiffness of industrial robots. The low stiffness leads to process forces caused deviations of the tool center point (TCP) from the planned position of more than 1 mm in industrial applications. To enhance the path accuracy a novel hybrid compliance compensation is developed. It combines a force sensor and model based online compensation with forces of an offline simulation to instantly react to predictable high force changes e.g. at a milling cutter exit from the work piece. The method is applied to a KUKA KR 300 robot. A compliance model based on a forward kinematic with virtual joints is implemented on an external controller. Cartesian or axis specific compensation values are calculated and transferred to the robot via a control circuit. A compliance measurement method is developed and a force torque sensor is mounted to the flange of the robot. The system is validated in with Cartesian and axis specific compensation values as well as with and without pilot control.

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Holistic process planning chain for robot machining

Cited by 7 publications

References 11 publications

Industrial robotic machining: a review

Industrial robotic machining: a review

Robots in machining

Hybrid compliance compensation for path accuracy enhancement in robot machining

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