The manipulator tool state classification based on inertia forces analysis

Gierlak, Piotr

doi:10.1016/j.ymssp.2018.01.002

Cited by 9 publications

(5 citation statements)

References 13 publications

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“…The tests and conclusions shown in [26,27] suggested an application of the available force sensor and software functionalities to detect tool damage and monitor the wear of tool.…”

Section: Robotic Machining Test Standmentioning

confidence: 99%

Automatic Detection of Industrial Robot Tool Damage Based on Force Measurement

et al. 2020

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This paper proposes a solution for diagnosing the condition of the tools applied in metal alloy robotic machining. Determination of the condition of a cutting tool requires specific methods that depend on the damage type or the wear level. Methods that involved measurements of basic geometric dimensions of cutting tools based on force sensor, and testing the forces of inertia caused by tool unbalance were applied in the work covered herein. Damage of cutting tool, including unbalance, fracture or complete tool wear were detected with a system of force measurement, which was part of the standard equipment of the robot in a process used to investigate the methods covered herein. All methods proposed herein were performed automatically and require no human intervention. This paper presents examples of solutions for determining the condition of a grinding pin, which is a common machining tool.

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“…The tests and conclusions shown in [26,27] suggested an application of the available force sensor and software functionalities to detect tool damage and monitor the wear of tool.…”

Section: Robotic Machining Test Standmentioning

confidence: 99%

Automatic Detection of Industrial Robot Tool Damage Based on Force Measurement

et al. 2020

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“…Although abrasive filament brushes have been successfully used for manual and automated applications, including burr removal [ 1 , 2 ], edge rounding [ 3 ], polishing [ 4 , 5 ], and frosted glass [ 6 , 7 ], they show poor consistency of machining quality due to the fast wear of the nylon filament [ 8 ]. To improve the disadvantage of existing brush-type surface finishing tools, the ceramic fiber brush has been developed and applied to deburring parts, showing better durability and machinability [ 9 , 10 ]. As shown in Figure 1 [ 11 ], ceramic fiber brushes have recently been studied to explore the possibility of mirror finishing based on their high machinability [ 12 , 13 ].…”

Section: Introductionmentioning

confidence: 99%

Lapping Quality Prediction of Ceramic Fiber Brush Based on Gaussian-Restricted Boltzmann Machine

Yuan

Wang

et al. 2022

Materials

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Although ceramic fiber brushes have been widely used for deburring and surface finishing, the associated relationship between process parameters and lapping quality is still unclear. In order to optimize the lapping process of ceramic fiber brushes, this paper proposes a multi-layer neural network based on the Gaussian-restricted Boltzmann machine (GRBM), and verified its prediction effectiveness. Compared with a traditional back-propagation neural network, its prediction error was reduced from 7.6% to 4.5%, and the determination coefficient was increased from 0.96 to 0.98, respectively. The comparison results showed that the proposed model can better grasp the relationship between process parameters and machining quality, which can be used as a decision-making foundation for lapping-process optimization.

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“…During manufacture applications, metal parts often suffer from the rust, flaking paint and fatigue damage. As shown in Figure 1(a), a steel wire brush can effectively perform surface treatment such as grinding, 1,2 hammering, 3,4 deburring, 5,6 rust and paint removal. Currently, steel wire brushes are widely used on handhold grinders without comprehensive control techniques, and intelligent grinding robots with brush tools are still rare in the market due to difficulties involved in the end effectors control.…”

Section: Introductionmentioning

confidence: 99%

Brush grinding aluminum alloy mechanism of single steel wire based on finite element approach

Yuan

Chong

Sun

et al. 2021

Advances in Mechanical Engineering

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In the process of surface treatment, steel wire brush can not only efficiently remove surface contaminants, such as deteriorated paint film and rust, but also increase the adhesive strength. However, the associated brush mechanics of material removal is still not clear. In order to reveal the brush mechanics of material removal, this paper assumed the tip of steel wire were ball–cone shaped, constructed contact force model, and calculated the brush grinding force under different process conditions based on finite element approach. The simulated results show that the brush grinding can be changed from plastic plowing to chip formation when the penetration depth is increased to 10 μm, then changed from chip formation to plastic plowing when the inclination angle is increased to 30°, respectively. The simulated value of brush force rises with the increasing penetration depth and inclination angle, which was consistent with the experimentally obtained values, and the relative errors are within 9%. The quantity of material removal increases with the ascending of penetration depth, and decreases with the ascending of inclination angle. This paper provides guidance to understand the mechanics of material removal, predict the brush grinding force, and contribute well to an automatic grinding control application.

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The manipulator tool state classification based on inertia forces analysis

Cited by 9 publications

References 13 publications

Automatic Detection of Industrial Robot Tool Damage Based on Force Measurement

Automatic Detection of Industrial Robot Tool Damage Based on Force Measurement

Lapping Quality Prediction of Ceramic Fiber Brush Based on Gaussian-Restricted Boltzmann Machine

Brush grinding aluminum alloy mechanism of single steel wire based on finite element approach

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