Machining with Industrial Robots: The COMET Project Approach

Lehmann, Christian W.; Pellicciari, Marcello; Drust, Manuel; Gunnink, J.W.

doi:10.1007/978-3-642-39223-8_3

Cited by 25 publications

(14 citation statements)

References 8 publications

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“…comet-project.eu/) in 2013, and an architecture with both offline and online compensations was proposed, as shown in Fig. 3, and detailed by Lehmann et al [74].…”

Section: Fixed Spindle In Robotic Machining (C1)mentioning

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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“…comet-project.eu/) in 2013, and an architecture with both offline and online compensations was proposed, as shown in Fig. 3, and detailed by Lehmann et al [74].…”

Section: Fixed Spindle In Robotic Machining (C1)mentioning

confidence: 99%

Industrial robotic machining: a review

Wang

2019

Int J Adv Manuf Technol

271

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“…In modern robotic cells, offline robot programming methods are used for complex robot tasks, such as milling or grinding. State of the art CAD/CAM software [12] for automatic path generation requires a close matching between the CAD representation of the work cell and its real environment. Current approaches are based on CAD knowledge of the cell, devices (e.g.…”

Section: Environment Dependent Errorsmentioning

confidence: 99%

“…The COMET project addressed the robot machining challenge and developed a modular and configurable platform able to enhance the machining accuracy of standard industrial robots enabling cost-effective, first time right, robot machining [12]. As outlined in Section 2 the understanding of error sources was mandatory and used as foundation to formulate the design requirements.…”

Section: The Comet Approach To Robotic Machiningmentioning

confidence: 99%

Improving robotic machining accuracy through experimental error investigation and modular compensation

Schneider

Drust

Ansaloni

et al. 2014

Int J Adv Manuf Technol

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Machining using industrial robots is currently limited to applications with low geometrical accuracies and soft materials. This paper analyzes the sources of errors in robotic machining and characterizes them in amplitude and frequency. Experiments under different conditions represent a typical set of industrial applications and allow a qualified evaluation. Based on this analysis, a modular approach is proposed to overcome these obstacles, applied both during program generation (offline) and execution (online). Predictive offline compensation of machining errors is achieved by means of an innovative programming system, based on kinematic and dynamic robot models. Real-time adaptive machining error compensation is also provided by sensing the real robot positions with an innovative tracking system and corrective feedback to both the robot and an additional high-dynamic compensation mechanism on piezo-actuator basis

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“…Recently, these machines have also been proposed for more complex tasks with a large dynamic loading such as machining [2], and these robotic applications require a high positioning accuracy and involve large time-varying loading during the processes. A few examples are the European projects HEPHESTOS and COMET that were launched to develop innovative robotic machining systems for small-batch production [3,4] and Boeing's initiative that aimed at using robots to automate drilling and percussive riveting processes in aircraft assembly [5]. On the other hand, the challenges for these robotic applications have also been highlighted in literature due to the inherent disadvantages of industrial robots compared with machine tools, such as having a low positioning accuracy and being prone to vibrations [2].…”

Section: Introductionmentioning

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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Machining with Industrial Robots: The COMET Project Approach

Cited by 25 publications

References 8 publications

Industrial robotic machining: a review

Industrial robotic machining: a review

Improving robotic machining accuracy through experimental error investigation and modular compensation

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

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