Implicit force and position control to improve drilling quality in CFRP flexible robotic machining

Lee, Jinho; Hong, Taehwa; Seo, Changhoon; Jeon, Yongho; Lee, Moon Gu; Kim, Hyo‐Young

doi:10.1016/j.jmapro.2021.06.038

Cited by 28 publications

(12 citation statements)

References 22 publications

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“…Even though there is a huge need for the mechanistic modelling of cutting force of CFRPs to understand the mechanics of cutting and predict cutting force, the recent models still need many fitting variables that make them challenging to implement [11,25]. Lee et al [26] developed a robotic drilling technology by implicit force and position control to improve hole quality in virgin CFRPs. They could reduce entry delamination by 66.76%.…”

Section: Introductionmentioning

confidence: 99%

A drilling case study in polymer composites reinforced by virgin and recycled carbon fibres (CFRP and rCFRP) to analyse thrust force and torque

Geier

Poór

Pereszlai

et al. 2022

Int J Adv Manuf Technol

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A great deal of attention is currently paid to recycling or reusing carbon fibres, as it improves sustainability and the lifetime of carbon products. The applicability of recycled carbon fibre–reinforced polymer (rCFRP) composite materials is supported by the results of material scientists; however, the machinability of rCFRPs has not been analysed yet. The machinability of virgin and rCFRPs was compared by analysing cutting force and torque in drilling. Six different CFRPs (virgin and recycled CFRPs with different reinforcing structures) were drilled at three feed levels using two different solid carbide cutting tools. The cutting force and torque were measured with a KISTLER 9257BA dynamometer, processed, and analysed by fast Fourier transformation (FFT) and analysis of variance (ANOVA). The experimental results proved at a significance level of 0.05 that the recycled/virgin status of the applied CFRPs significantly influences both the thrust force and drilling torque of each CFRP. Furthermore, the cutting force and torque are higher in rCFRPs than in virgin CFRPs at each reinforcing structure. The present study suggests spreading rCFRP applications, as there are no essential barriers against them from the point of view of drilling force and torque.

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Section: Introductionmentioning

confidence: 99%

A drilling case study in polymer composites reinforced by virgin and recycled carbon fibres (CFRP and rCFRP) to analyse thrust force and torque

Geier

Poór

Pereszlai

et al. 2022

Int J Adv Manuf Technol

View full text Add to dashboard Cite

show abstract

“…Real time communication protocols (Profinet, EtherCAT, Sercos…) are available to exchange joint position data (setpoints and real values) at high rates and in a deterministic way. This technology has already been used in different applications like robotic surgery [15] and machining [16]. KUKA robot manufacturer provides an NC kernel as an option of their KR controllers.…”

Section: Introductionmentioning

confidence: 99%

NC controlled robot for adaptive and constant force 3D polishing

González

Armendia

2022

2022 IEEE 27th International Conference on Emerging Technologies and Factory Automation (ETFA)

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Industrial robot manipulators have been historically used for applications requiring high flexibility and repeatability. However, in the last years new applications linked to direct involvement of the robots in manufacturing processes have arisen, with increased demands in path tracking, dynamics, and accuracy. In this paper, an external Numerical Control based controller is used to command an industrial 6 dof manipulator, allowing the possibility to command the robot using ISO G-Code, and integrating control functionalities like kinematic transformations and Adaptative Impedance Control. An adaptive and force controlled robotic polishing cell has been set-up as a demonstrator, showing successful polishing performance.

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“…The specific static and dynamic characteristics of robotic arms require dedicated planing of machining operations to improve accuracy by using a multi-axis compensation mechanism [ 14 ] and position control depending on force [ 15 ], kinematic analysis of the arm [ 16 , 17 ], or the effective stiffness of the arm [ 18 ]. Alternatively, a dedicated design of robotic arm for machining can improve the stiffness and dynamic properties, as well as the costs [ 19 ], and specific robotic designs [ 20 , 21 ] have been analysed to better understand their dynamic responses.…”

Section: Introductionmentioning

confidence: 99%

Structural Potting of Large Aeronautic Honeycomb Panels: End-Effector Design and Test for Automated Manufacturing

2022

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Structural potting is used to prepare honeycomb panels to fix metallic elements, typical in aircraft doors. In this paper, a full procedure for structural potting using robotic arms is presented for the first time. Automating this procedure requires the integration of, first, machining operations to remove the skin layers and prepare the potting points and, then, resin injection into the honeycomb cells. The paper describes the design, prototyping, and testing of specific end-effectors. Different end-effectors were explored to ensure efficient injection. The results obtained with the prototypes show that the potting quality is adequate to accomplish the required process checks for industrial manufacturing. The injection process time can be reduced by a factor greater than 3.5, together with the extra assets associated with the automation of complex tasks. Therefore, structural potting automation is demonstrated to be feasible with the end-effectors proposed for milling and injection, which are ready for use with conventional robotic arms in manufacturing lines.

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Implicit force and position control to improve drilling quality in CFRP flexible robotic machining

Cited by 28 publications

References 22 publications

A drilling case study in polymer composites reinforced by virgin and recycled carbon fibres (CFRP and rCFRP) to analyse thrust force and torque

A drilling case study in polymer composites reinforced by virgin and recycled carbon fibres (CFRP and rCFRP) to analyse thrust force and torque

NC controlled robot for adaptive and constant force 3D polishing

Structural Potting of Large Aeronautic Honeycomb Panels: End-Effector Design and Test for Automated Manufacturing

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