Dynamic Simulation of the Six Axis Machining Robot for Trajectory Planning in CATIA-LMS

2012 ◽  
Vol 163 ◽  
pp. 74-78
Author(s):  
Yi Luo ◽  
Olivier Gibaru ◽  
Adel Olabi
Keyword(s):  
Dynamic Simulation ◽  
Trajectory Planning ◽  
Machine Tools ◽  
Industrial Robots ◽  
Machining Accuracy ◽  
Aluminum Castings ◽  
Robot Machining ◽  
Machining Robot ◽  
Low Stiffness ◽  
Stiff Joint

Nowadays six axis machining robots are widely used in many fields of industry. Compared to machine tools, industrial robots offer a cheaper yet more flexible alternative to the machine-tools in the cleaning and pre-machining applications of aluminum castings. But the low stiffness has limited the application of industrial robots to the machining tasks with very low precision requirement. This paper presents a practical approach to improve the robot-machining accuracy by developing an off line simulation tool. Firstly we will complete the dynamic simulation of the 6-axis stiff model in CATIA-LMS for trajectory planning. Secondly we will set flexible joints and balancing system for the industry machining robot in LMS. Finally we will make some compare with the position trajectories generated by flexible joint and stiff joint, and then adjust the parameters under the references of the simulation result before the industry machining.

Zerspanung mit Industrierobotern/Robot machining – Hybrid manufacturing with industrial robots in tool and die constructions

2018 ◽  
Vol 108 (06) ◽  
pp. 429-434
Author(s):  
E. Abele ◽  
C. Baier ◽  
C. Tepper
Keyword(s):  
Additive Manufacturing ◽  
Chip Thickness ◽  
Industrial Robots ◽  
Hybrid Manufacturing ◽  
Machining Accuracy ◽  
Starting Point ◽  
Robot Machining ◽  
Good Starting Point ◽  
Near Net Shape ◽  
To Come

Additives Auftragschweißen bietet eine sehr gute Ausgangssituation für die Zerspanung mit Industrierobotern. Durch die additive, endkonturnahe Fertigung wird das Zerspanungsvolumen reduziert. So können Spandicken verringert und die Zerspanungskräfte verkleinert werden. Die Kombination der beiden robotergestützten Technologien zu einer hybriden Fertigung ermöglicht eine signifikante Steigerung der Oberflächengüte sowie der Bearbeitungsgenauigkeit nahe der Wiederholgenauigkeit von Industrierobotern.   Additive manufacturing offers a good starting point for machining with industrial robots. Additive, near-net-shape manufacturing allows decreasing chip thickness, which leads to a reduction of cutting forces. The combination of the two robot-based technologies for hybrid manufacturing thus enables a significant improvement of surface quality and increases machining accuracy to come close to the repeatability accuracy of industrial robots.

Auto-Calibration for Vision-Based 6-D Sensing System to Support Monitoring and Health Management for Industrial Robots

2021 ◽  
Author(s):  
Guixiu Qiao ◽  
Guangkun Li
Keyword(s):  
High Precision ◽  
Health Management ◽  
Calibration Method ◽  
Industrial Robots ◽  
Smart Manufacturing ◽  
Robot Arm ◽  
Sensing System ◽  
Robot Accuracy ◽  
Robot Machining ◽  
Machining Robot

Abstract Industrial robots play important roles in manufacturing automation for smart manufacturing. Some high-precision applications, for example, robot drilling, robot machining, robot high-precision assembly, and robot inspection, require higher robot accuracy compared with traditional part handling operations. The monitoring and assessment of robot accuracy degradation become critical for these applications. A novel vision-based sensing system for 6-D measurement (six-dimensional x, y, z, yaw, pitch, and roll) is developed at the National Institute of Standards and Technology (NIST) to measure the dynamic high accuracy movement of a robot arm. The measured 6-D information is used for robot accuracy degradation assessment and improvement. This paper presents an automatic calibration method for a vision-based 6-D sensing system. The stereo calibration is separated from the distortion calibration to speed up the on-site adjustment. Optimization algorithms are developed to achieve high calibration accuracy. The vision-based 6-D sensing system is used on a Universal Robots (UR5) to demonstrate the feasibility of using the system to assess the robot’s accuracy degradation.

scholarly journals Dynamic Simulation Modeling of Industrial Robot Kinematics in Industry 4.0

2022 ◽  
Vol 2022 ◽  
pp. 1-11
Author(s):  
Guang Jin ◽  
Shuai Ma ◽  
Zhenghui Li
Keyword(s):  
Dynamic Simulation ◽  
Trajectory Planning ◽  
Simulation Modeling ◽  
Industry 4.0 ◽  
Industrial Robot ◽  
Error Model ◽  
Position Error ◽  
Industrial Robots ◽  
Robot Kinematics ◽  
Kinetic Characteristics

This paper studies the kinematic dynamic simulation modeling of industrial robots in the Industry 4.0 environment and guides the kinematic dynamic simulation modeling of industrial robots in the Industry 4.0 environment in the context of the research. To address the problem that each parameter error has different degrees of influence on the end position error, a method is proposed to calculate the influence weight of each parameter error on the end position error based on the MD-H error model. The error model is established based on the MD-H method and the principle of differential transformation, and then the function of uniform variation of six joint angles with time t is constructed to ensure that each linkage geometric parameter is involved in the motion causing error accumulation. Through the analysis of the robot marking process, the inverse solution is optimized for multiple solutions, and a unique engineering solution is obtained. Linear interpolation, parabolic interpolation, polynomial interpolation, and spline curve interpolation are performed on the results after multisolution optimization in the joint angle, and the pros and cons of various interpolation results are analyzed. The trajectory planning and simulation of industrial robots in the Industry 4.0 environment are carried out by using a special toolbox. The advantages and disadvantages of the two planning methods are compared, and the joint space trajectory planning method is selected to study the planning of its third and fifth polynomials. The kinetic characteristics of the robot were simulated and tested by experimental methods, and the reliability of the simulation results of the kinetic characteristics was verified. The kinematic solutions of industrial robots and the results of multisolution optimization are simulated. The methods, theories, and strategies studied in this paper are slightly modified to provide theoretical and practical support for another dynamic simulation modeling of industrial robot kinematics with various geometries.

Spanende Bearbeitung mit Industrierobotern*/Milling with industrial robots - Model-based planning assistant for robot processes

2017 ◽  
Vol 107 (05) ◽  
pp. 346-351
Author(s):  
C. Prof. Brecher ◽  
L. Lienenlüke ◽  
M. Obdenbusch
Keyword(s):  
Machine Tools ◽  
Industrial Robots ◽  
Manufacturing Processes ◽  
Absolute Accuracy ◽  
Model Based ◽  
Low Stiffness ◽  
High Flexibility

Durch technische Errungenschaften in der Industrierobotik ergeben sich Potentiale für neue Applikationen. In Kombination mit einem geringen Verhältnis von Investitionskosten pro Arbeitsraum ist insbesondere die Bearbeitung zunehmend wirtschaftlich. Allerdings weisen Roboter hinsichtlich Genauigkeit und Steifigkeit bisher Nachteile auf. Der Fachbeitrag beschreibt eine Methode zur modellgestützten CAM-NC-Planungsassistenz für die automatisierte Parametrierung roboterbasierter Bearbeitungsprozesse.   The machining sector is increasingly making use of industrial robots to benefit from high flexibility and low investment costs in relation to the installation area. However, low absolute accuracy and low stiffness prevent the breakthrough in industry. This paper describes a method developed at the WZL chair of machine tools, which enables model-based planning assistance for automated parameterization of robotic manufacturing processes.

Robotic Three-Dot Force Feedback to Suppress Surface Contact Slipping in Robot Drilling

2013 ◽  
Vol 404 ◽  
pp. 650-656
Author(s):  
C.J. Li ◽  
R.X. Qu ◽  
S.Q. Li ◽  
Si Jun Zhu ◽  
Jun Yao
Keyword(s):  
Machine Tools ◽  
Force Feedback ◽  
Simulation Analysis ◽  
Industrial Robots ◽  
Drill Bit ◽  
Workpiece Surface ◽  
Hole Position ◽  
Surface Contact ◽  
Low Stiffness

Relative to classic machine tools, industrial robots have a low stiffness. In the use of industrial robots during drilling, it is easy to vibrate. When drill bit contacts with workpiece surface, the vibration will cause the drill bit slipping on the workpiece surface, affecting the quality of the drilled hole, so that hole position accuracy can not meet the requirements, which cause the drilling failure. This paper presents a method based on force feedback to suppress the Surface Contact Slipping (SCS). The method using three-dot force sensors to feedback robots kinematics, keeps the drill vertical with the workpiece surface, to suppress slipping. Simulation analysis shows that the method can effectively improve the quality of the drilled hole, satisfy the drilling requirements.

Kleine Unwucht – große Wirkung/Dynamic systems for cutting force compensation

2017 ◽  
Vol 107 (01-02) ◽  
pp. 39-44
Author(s):  
O. Kuklevskyi ◽  
S. Weiland ◽  
T. Stehle
Keyword(s):  
Cutting Force ◽  
Dynamic Systems ◽  
Milling Process ◽  
Industrial Robots ◽  
Machining Accuracy ◽  
Dynamic Forces ◽  
Low Stiffness ◽  
Force Compensation

Bei der Fräsbearbeitung mit Industrierobotern sowie anderen Sonderkinematiken werden aufgrund der niedrigen Steifigkeit die Fertigungsgenauigkeit und die Produktivität durch prozessinduzierte Schwingungen und Vibrationen eingeschränkt. Es werden in diesem Fachartikel verschiedene grundlegende Möglichkeiten diskutiert, wie sich die Genauigkeit beim Fräsen erhöhen lässt. Anschließend werden einige mögliche Konzepte zur Erzeugung von inertial-dynamischen Kräften zum Zerspankraftausgleich vorgeschlagen.   Due to vibrations induced by the milling process industrial robots and other guiding kinematics with low stiffness suffer of reduced productivity and machining accuracy. In the following paper we will discuss various alternatives to improve milling accuracy. Subsequently we will propose several concepts for cutting force compensation using inertial-dynamic forces.

Integration of Cutting Robot with CAD/CAM System Based on STEP-NC

2017 ◽  
Vol 868 ◽  
pp. 93-98 ◽  
Author(s):  
Li Jin Fang ◽  
Li Li ◽  
Guo Xun Wang
Keyword(s):  
Processing System ◽  
Industrial Robots ◽  
Machining Process ◽  
Prototype System ◽  
Post Processing ◽  
Cad Cam ◽  
Robot Machining ◽  
Machining Robot ◽  
Key Issues ◽  
Nc Data

In order to solve the problem of openness, intelligence and low integration in the current machining robot control system, STEP-NC standard is introduced into the field of robot machining, and defines the STEP-NC data model of industrial robots. The 6R industrial robots are used to build the machining platform and the connection between the machining robot and the CAD / CAM system and the integrated data stream structure are discussed. The key issues involved in the post processing of the machining robot are studied. Taking the 6R robot as an example, the robot prototype system is established, and the kinematics solution in the post-processing process is studied and deduced. The cutting and post-processing system platform of cutting robot was established and the sample art machining was completed. The experimental and simulation results show that the system can complete the machining process of the cutting robot and generate executable robot machining instructions.

scholarly journals Hybrid compliance compensation for path accuracy enhancement in robot machining

2020 ◽  
Vol 14 (4) ◽  
pp. 425-433
Author(s):  
Felix Hähn ◽  
Matthias Weigold
Keyword(s):  
Force Sensor ◽  
Industrial Applications ◽  
Industrial Robots ◽  
Work Piece ◽  
Machining Processes ◽  
Model Based ◽  
Robot Machining ◽  
Low Stiffness ◽  
Forward Kinematic ◽  
Virtual Joints

Abstract Robot machining processes with high material removal rates lack of high path accuracy mainly due to the low stiffness of industrial robots. The low stiffness leads to process forces caused deviations of the tool center point (TCP) from the planned position of more than 1 mm in industrial applications. To enhance the path accuracy a novel hybrid compliance compensation is developed. It combines a force sensor and model based online compensation with forces of an offline simulation to instantly react to predictable high force changes e.g. at a milling cutter exit from the work piece. The method is applied to a KUKA KR 300 robot. A compliance model based on a forward kinematic with virtual joints is implemented on an external controller. Cartesian or axis specific compensation values are calculated and transferred to the robot via a control circuit. A compliance measurement method is developed and a force torque sensor is mounted to the flange of the robot. The system is validated in with Cartesian and axis specific compensation values as well as with and without pilot control.

scholarly journals A force/motion control approach based on trajectory planning for industrial robots with closed control architecture

IEEE Access ◽  
2021 ◽  
pp. 1-1
Author(s):  
Alejandro GutierreznGiles ◽  
Luis U. EvangelistanHernandez ◽  
Marco A. Arteaga ◽  
Carlos A. CruznVillar ◽  
Alejandro RodrigueznAngeles
Keyword(s):  
Motion Control ◽  
Trajectory Planning ◽  
Industrial Robots ◽  
Control Architecture ◽  
Control Approach

Spanende Bearbeitung mit Industrierobotern und Bearbeitungszentren*/Machining with industrial robots and machining centers – Analysis of the achievable component qualities in woodworking

2019 ◽  
Vol 109 (09) ◽  
pp. 650-655
Author(s):  
C. Menze ◽  
D. Becker ◽  
T. Stehle ◽  
H.-C. Möhring ◽  
N. Helfesrieder ◽  
...  
Keyword(s):  
Machine Tools ◽  
High Potential ◽  
Industrial Robots ◽  
Metal Industry ◽  
Great Flexibility ◽  
Process Forces

Industrieroboter bieten eine große Flexibilität und einen großen Arbeitsraum bei verhältnismäßig geringen Investitionskosten. Gegenüber spanenden Werkzeugmaschinen sind die Steifigkeiten und Bahngenauigkeiten von Robotern jedoch geringer. Dennoch bieten sie für die Holzbearbeitung großes Potential, da die Prozesskräfte gewöhnlich kleiner und die Toleranzen höher sind als im Metallbereich. Dieser Beitrag stellt einen Vergleich der erzielbaren Bauteilqualitäten bei der Holzbearbeitung mit Industrierobotern und Bearbeitungszentren vor.   Industrial robots provide great flexibility and a large working area at relatively low investment costs. However, their stiffness and path accuracy are generally lower compared to machine tools. Still, they offer high potential for woodworking, as the process forces are usually smaller and the tolerances higher than in the metal industry. This paper presents a comparison of the achievable component qualities in woodworking with industrial robots and machining centers.

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