scholarly journals Application of industrial robot in 5-axis milling process

2019 ◽  
Vol 299 ◽  
pp. 04004
Author(s):  
Martin Pollák ◽  
Monika Telišková ◽  
Marek Kočiško ◽  
Petr Baron
Keyword(s):  
Economic Efficiency ◽  
Manufacturing Process ◽  
Laboratory Tests ◽  
Industrial Robot ◽  
Control Program ◽  
Milling Process ◽  
Robotic Arm ◽  
Robot Arm ◽  
Nc Program ◽  
Robotic Arm Control

Present in machining creates constantly new requirements to increase economic efficiency, productivity and product quality. With this advancement, industry is no longer focusing only on commonly used machining technologies, but is paying increasing attention to the implementation of robots in the manufacturing process by machining. The paper describes the design of equipment for the implementation of 5-axis milling with the help of a robot arm ABB IRB 140. It describes the design of the milling head and deals with the creation of NC machining program in software Autodesk Fusion 360. The generated NC program is then used in RoboDK to create a robotic arm control program. At the end of the paper are described laboratory tests of machining using the designed prototype milling head.

scholarly journals Industrial Robotic Arm for Chilli Milling Process

2020 ◽  
Vol 9 (12) ◽  
pp. 130-133
Keyword(s):  
Feeding Rate ◽  
Industrial Robot ◽  
Milling Process ◽  
Robotic Arm ◽  
Processing Plant ◽  
Sri Lankan ◽  
Dc Motors ◽  
Processing Plants ◽  
Wrinkled Surface ◽  
Industrial Level

Chilli (Capsicum annuum), one of the essential ingredients in Sri Lankan cuisine, is widely cultivated for producing dried chilli. The narrow conical-shaped chilli pods with wrinkled surface do not support much of the existing common mechanical feeding systems such as augers or bucket conveyorsin the chilli processing plants. Therefore, the objective of this study is to design and develop a robotic arm with a proper grabbing technique to feed chilli into the grinding mill. Furthermore, it is intended to install the developed robotic arm in an industrial level processing plant to test the feasibility of theindustrial application.The industrial robot designed in this study is primarily composed of three parts: the base, the arm and the wrist. These components connect with joints to form a unit. At the end of the wrist, an end-effector, which is a gripper for grasping chilli pods, is located.ATmega328 microcontroller, micro switches and DC motors were used to operate the robotic arm. The feeding rate is automatically controlled using a Hall Effect sensor. The robotic arm grabber was placed on top of the chilli containing trough (2.5m wide, 10.5m long, and 1.25m high) of an industrial level chilli processing plant.When operating, the grabber could grab 1.640±0.128 kg of chilli from the bulk in a single operation. The average time taken for one complete cycle of grabbing chilli, lifting the grabber, turning the arm on to the conveyer and releasing chilli on to the belt conveyor, varies from 20 s and 30 s depending on the height of chilli in the trough. The feeding rate varies from 440.6 kg/h and 218.66 kg/h when chilli is grabbed from the top and the bottom layers respectively. Therefore, this system can be recommended for maximum feeding rate of chilli up to 218.66 kg/h. Capacity can be increased by adding the same mechanism parallel or scaling up the existing system.

Robotic Arm Based Dynamixel Actuators Controlled by the Data Glove

2015 ◽  
Vol 18 ◽  
pp. 152-158
Author(s):  
Peter Girovský ◽  
Matúš Kundrát
Keyword(s):  
Control Program ◽  
Robotic Arm ◽  
Robot Arm ◽  
Data Glove

This contribution deals with the control of a robot arm using a data glove. To construct the data gloves were used bend sensors and sensor of acceleration. Robotic arm was built using the modular actuators Dynamixel. Control program for controlling a robot arm using a data glove was created in Matlab.

AN ELECTRO-RHEOLOGICAL (ER) ROBOTIC SYSTEM: CONTROLLER VALIDATION, TREND STUDY, COMPARISON WITH DC SERVOMOTORS, POSITION REPEATABILITY

2008 ◽  
Vol 22 (29) ◽  
pp. 5111-5144 ◽  
Author(s):  
K. P. TAN ◽  
R. STANWAY ◽  
W. A. BULLOUGH
Keyword(s):  
Industrial Robot ◽  
Robotic System ◽  
Gear Train ◽  
Robotic Arm ◽  
Robot Arm ◽  
Trend Study ◽  
Position Accuracy ◽  
Speed Of Response ◽  
System Controller ◽  
Optimum Working

Industrial robot arms experience position inaccuracies due to the output cogging torques of the DC servomotors. Therefore, in an attempt to resolve these position problems, an electro-rheological (ER) robotic system is considered as an actuator to drive the robot arm rapidly in both directions. This ER robotic system consists of two ER clutches, an ER brake, a gear train, an encoder and a robot arm. The ER clutches produce clockwise and anti-clockwise rotations. The ER brake decelerates and halts the robot arm. The main aim of this paper is to validate a controller model of the ER robotic arm. Next, a trend study is used to determine the optimum working conditions of the ER actuated-robotic arm. The robotic displacements of both the ER rotary devices and the commercial DC servomotors are compared in terms of position accuracy and speed of response. Finally, the repeatability of the robotic end positions is examined in order to determine the importance of the ER brake.

Collision Avoidance of a Welding Robot for a Large Structure (Application of Human Experience)

2013 ◽  
Vol 7 (1) ◽  
pp. 88-94 ◽  
Author(s):  
Naoki Asakawa ◽  
◽  
Yoshihiro Kanjo ◽  
Keyword(s):  
Collision Avoidance ◽  
Robot Control ◽  
Industrial Robot ◽  
Control Program ◽  
Automatic Generation ◽  
Robot Arm ◽  
Welding Robot ◽  
Large Structure ◽  
Skilled Workers ◽  
Large Structures

The study deals with the automatic generation of a program with collision avoidance for a welding robot for a large structure. An industrial robot used for welding large structures must consider collisions between the tool and workpiece, the robot arm and workpiece, and with surrounding objects. In the study, the experiences of skilled workers are used to consider collision problems while generating a robot control program. Through the experiment, the system was found to have the ability to resolve collision problems.

Design and performance analysis of an industrial robot arm for robotic drilling process

2019 ◽  
Vol 46 (1) ◽  
pp. 7-16 ◽  
Author(s):  
Longfei Sun ◽  
Fengyong Liang ◽  
Lijin Fang
Keyword(s):  
Control Method ◽  
Industrial Robot ◽  
Industrial Robots ◽  
Ball Screw ◽  
Robotic Arm ◽  
Drilling Process ◽  
Robot Arm ◽  
Content Type ◽  
Robotic Drilling

Purpose The purpose of this paper is to present a robotic arm that can offer better stiffness than traditional industrial robots for improving the quality of holes in robotic drilling process. Design/methodology/approach The paper introduces a five-degree of freedom (DOF) robot, which consists of a waist, a big arm, a small arm and a wrist. The robotic wrist is composed of two DOFs of pitching and tilting. A parallelogram frame is used for robotic arms, and the arm is driven by a linear electric cylinder in the diagonal direction. Double screw nuts with preload are used in the ball screw to remove the reverse backlash. In addition, dual-motor drive is applied for each DOF in the waist and the wrist to apply anti-backlash control method for eliminating gear backlash. Findings The proposed robotic arm has the potential for improving robot stiffness because of its truss structure. The robot can offer better stiffness than industrial robots, which is beneficial to improve the quality of robotic drilling holes. Originality/value This paper includes the design of a five-DOF robot for robotic drilling tasks, and the stiffness modeling of the robot is presented and verified by the experiment. The robotic system can be used instead of traditional industrial robots for improving the hole quality to a certain extent.

A Perspective on Low Molecular Weight Heparins in the Management of Thrombosis

1993 ◽  
Vol 13 (S 01) ◽  
pp. S5-S11 ◽  
Author(s):  
Debra Hoppensteadt ◽  
Jeanine Walenga ◽  
A Ahsan ◽  
O Iqbal ◽  
W Jeske ◽  
...  
Keyword(s):  
Molecular Weight ◽  
Mechanism Of Action ◽  
Manufacturing Process ◽  
Laboratory Tests ◽  
Low Molecular Weight ◽  
Low Molecular Weight Heparins ◽  
Pharmacological Management

SummaryThe introduction of low molecular weight heparins has added a new dimension to the pharmacological management of thrombotic disorders. Because of different chemical and pharmacological characteristics, due to the manufacturing process, each LMWH should be considered as a distinct entitity and only be used for its given indication. A list of commercially available LMWHs is included. The mechanism of action of the LMWHs and their use in various disorders are discussed. Available laboratory tests for monitoring LMWHs are presented and their limitations pointed out.

scholarly journals Fabrication and characterization of resistive double square loop arrays for ultra-wide bandwidth microwave absorption

2021 ◽  
Vol 11 (1) ◽  
Author(s):  
Ji-Young Jeong ◽  
Je-Ryung Lee ◽  
Hyeonjin Park ◽  
Joonkyo Jung ◽  
Doo-Sun Choi ◽  
...  
Keyword(s):  
Sheet Resistance ◽  
Manufacturing Process ◽  
End Milling ◽  
Milling Process ◽  
Wide Bandwidth ◽  
Machined Surface ◽  
Array Pattern ◽  
Micro End Milling ◽  
Array Structures ◽  
Printing Processes

AbstractMicrowave absorbers using conductive ink are generally fabricated by printing an array pattern on a substrate to generate electromagnetic fields. However, screen printing processes are difficult to vary the sheet resistance values for different regions of the pattern on the same layer, because the printing process deposits materials at the same height over the entire surface of substrate. In this study, a promising manufacturing process was suggested for engraved resistive double square loop arrays with ultra-wide bandwidth microwave. The developed manufacturing process consists of a micro-end-milling, inking, and planing processes. A 144-number of double square loop array was precisely machined on a polymethyl methacrylate workpiece with the micro-end-milling process. After engraving array structures, the machined surface was completely covered with the developed conductive carbon ink with a sheet resistance of 15 Ω/sq. It was cured at room temperature. Excluding the ink that filled the machined double square loop array, overflowed ink was removed with the planing process to achieve full filled and isolated resistive array patterns. The fabricated microwave absorber showed a small radar cross-section with reflectance less than − 10 dB in the frequency band range of 8.0–14.6 GHz.

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