A method for off-line compensation of cutting force-induced errors in robotic machining by tool path modification
| Autor: | Milos Glavonjic, Dragan Milutinovic, Nikola Slavkovic |
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| Rok vydání: | 2013 |
| Předmět: |
Engineering drawing
Engineering business.industry Mechanical Engineering Mechanical engineering Stiffness Industrial and Manufacturing Engineering Computer Science Applications Compensation (engineering) Tool path Machining Control and Systems Engineering Cutting force Trajectory medicine Robot medicine.symptom business Software Off line |
| Zdroj: | The International Journal of Advanced Manufacturing Technology. 70:2083-2096 |
| ISSN: | 1433-3015 0268-3768 |
| DOI: | 10.1007/s00170-013-5421-z |
| Popis: | Industrial robots are promising cost-effective and flexible alternatives for multi-axis milling applications in machining of complex parts of light materials with lower tolerances, having freeform surfaces. As it is well-known, the poor accuracy, stiffness, and the complexity of programming are the most important limiting factors for wider adoption of robotic machining in machine shops. The paper presents the developed method for off-line compensation of machining robot tool tip static displacements as a dominant part of cutting force-induced errors. The developed method is based on modification of programmed trajectory in G-code. Off-line modification of programmed trajectory is performed according to the predicted static tool tip displacements calculated based on developed robot compliance model and cutting forces predicted by mechanistic model. The obtained experimental results show the relevance of developed method since the machining errors could be significantly reduced. This allows the desired accuracy of robot machining to converge towards nominal specifications. |
| Databáze: | OpenAIRE |
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