Proposal of Improving Method of Rotational 2-Axis Synchronous Accuracy of Plate Motion Control with a Dual Arm Robot by Estimating Ball Rolling Motion on the Plate

2012 ◽  
Vol 523-524 ◽  
pp. 889-894 ◽  
Author(s):  
Wei Wu ◽  
Toshiki Hirogaki ◽  
Eiichi Aoyama
Keyword(s):  
Machine Tool ◽  
Present Report ◽  
Plate Motion ◽  
Circular Path ◽  
Motion Error ◽  
Rotation Axes ◽  
Ball Rolling ◽  
Dual Arm Robot ◽  
Five Axis ◽  
Dual Arm

Recently, developers of machining tools have begun paying more and more attention to multi-joint dual-arm robot, and it is expected the robot will reclaim its place in the field of new automation. Industrial dual-arm robots have therefore gained attention as new tools to control both linear motion and rotational motion accurately. On the other hand, the five-axis control machining center controlling the motion of three translation axes and two rotation axes has put into wide practical use. However, a one problem has been that it may be the difficult to measure the synchronic accuracy of rotation two axes without high accuracy gyro sensor. In the present report, we proposed a novel method to measure the synchronic accuracy of rotation two axes of machine tool table with a ball, which keeps a ball rolling around a circular path on the working plate by dual-arm cooperating control. As a result, we investigated an influence of each axis motion error on a ball- rolling path, and demonstrated this method made it feasible to estimate the synchronic accuracy of rotation two axes of machine tool table.

Investigation of Synchronous Accuracy of Dual Arm Motion of Industrial Robot

2012 ◽  
Vol 516 ◽  
pp. 234-239 ◽  
Author(s):  
Wei Wu ◽  
Toshiki Hirogaki ◽  
Eiichi Aoyama
Keyword(s):  
Rotational Motion ◽  
Manufacturing Systems ◽  
Industrial Robot ◽  
Circular Path ◽  
Stable Operation ◽  
Motion Error ◽  
Ball Rolling ◽  
Arm Motion ◽  
Five Axis ◽  
Dual Arm

Recently, new needs have emerged to control not only linear motion but also rotational motion in high-accuracy manufacturing fields. Many five-axis-controlled machining centres are therefore in use. However, one problem has been the difficulty of creating flexible manufacturing systems with methods based on the use of these machine tools. On the other hand, the industrial dual-arm robot has gained attention as a new way to achieve accurate linear and rotational motion in an attempt to control a working plate like a machine tool table. In the present report, a cooperating dual-arm motion is demonstrated to make it feasible to perform stable operation control, such as controlling the working plate to keep a ball rolling around a circular path on it. As a result, we investigated the influence of each axis motion error on a ball-rolling path.

Skillful Operating of Working Plate to Control Ball Rolling Motion With a Dual Arm Robot

2013 ◽  
Author(s):  
Shun Kinoshita ◽  
Toshiki Hirogaki ◽  
Eiichi Aoyama ◽  
Wei Wu
Keyword(s):  
Cooperative Control ◽  
Present Report ◽  
Past Research ◽  
Circular Path ◽  
Rotary Axes ◽  
Ball Rolling ◽  
Novel Method ◽  
Rotational Motions ◽  
Dual Arm Robot ◽  
Dual Arm

Industrial dual-arm robots have been gaining attention as novel tools in the field of new automation. Our past research has focused on using them flexibly to control both the linear and rotational motions of a working plate. However, it has been difficult to measure the synchronous accuracy of two rotary axes without a high-accuracy gyro sensor. We therefore developed a novel method to measure the synchronous accuracy of the two rotary axes of a working plate with a ball, in which the ball is kept rolling around a circular path by dual-arm cooperative control. In the present report, in order to widen the range of application, we tried to keep the ball rolling around a rhomboid path, which is one of the polygonal paths used on a working plate by dual-arm cooperative control. It could be seen that there is some possibility of generating an equal speed diamond motion by inputting wave as the odd power of a trigonometric function and considered a deceleration angle with the robot that we handled.

Detection of Motion Error Under Synchronous Two-Axis Control of a Dual Arm Robot Based on Monitoring of Ball Rolling Motion on a Plate

2015 ◽  
Vol 9 (1) ◽  
pp. 33-42
Author(s):  
Wei Wu ◽  
◽  
Shun Kinoshita ◽  
Toshiki Hirogaki ◽  
Eiichi Aoyama
Keyword(s):  
Cooperative Control ◽  
Rolling Friction ◽  
Industrial Robots ◽  
Circular Path ◽  
Motion Error ◽  
Rotary Axes ◽  
Ball Rolling ◽  
Novel Method ◽  
Dual Arm Robot ◽  
Dual Arm

Dual-arm industrial robots have been gaining attention as novel tools in the field of new automation. We therefore focus on them to flexibly control both the linear motion and the rotational motion of a working plate. However, the difficulty of measuring the synchronous accuracy of two rotary axes without a highaccuracy gyro sensor has been a problem. We therefore propose a novel method of using a ball to measure the synchronous accuracy of two rotary axes of a working plate. The plate uses dual-arm cooperative control to keep the ball rolling in a circular path on it. In this report, we investigate the effects of the rolling friction coefficient of the ball on its sensitivity and resolution to estimate the synchronous accuracy of two rotary axes.

Motion Control of Rolling Ball by Operating the Working Plate with a Dual-Arm Robot

2012 ◽  
Vol 6 (1) ◽  
pp. 75-83 ◽  
Author(s):  
Wei Wu ◽  
◽  
Toshiki Hirogaki ◽  
Eiichi Aoyama ◽  
Keyword(s):  
Rotational Motion ◽  
Manufacturing Systems ◽  
Present Report ◽  
Circular Path ◽  
Stable Operation ◽  
Linear Motion ◽  
Motion Error ◽  
Rolling Ball ◽  
Ball Rolling ◽  
Dual Arm

Recently, new needs have emerged to control not only linear motion but also rotational motion in high-accuracy manufacturing fields. Many five axiscontrolled machining centers are therefore in use. However, one problem has been that it may be difficult to achieve flexible manufacturing systems by methods based on the use of these machine tools. On the other hand, industrial dual-arm robots have gained attention as new tools to control both linear motion and rotational motion accurately, in the attempt to control a working plate like a machine tool table. In the present report, cooperative dual-arm motion is demonstrated to make it feasible to perform stable operation control, such as controlling the working plate to keep a ball rolling in a circular path on it. As a result, we investigated the influence of each axis motion error on a ball-rolling path.

The Research of Nonlinearity Error Control on Five-Axis Machining Post Processor

2011 ◽  
Vol 311-313 ◽  
pp. 2353-2357 ◽  
Author(s):  
Qing Chun Tang ◽  
Jun He ◽  
Lan Lan Gao ◽  
Yu Huo Lai ◽  
Xue Ming Fang
Keyword(s):  
Machine Tool ◽  
Error Compensation ◽  
Error Control ◽  
Estimation Method ◽  
Linear Interpolation ◽  
Nonlinearity Error ◽  
Motion Error ◽  
Nonlinear Error ◽  
Tool Motion ◽  
Five Axis

Abstract：This paper analyses the causes and effective estimation method of nonlinear error; By machine tool motion solution, established a five-axis machine tool BV100 motion transformation mathematical models, combined with linear interpolation principle established the error compensation and nonlinear motion error model of the machine tool .by VB language, developed nonlinear error compensation function of special post process; and through the impeller cutting experiment validate the processor is correct and practical.

Measuring Path without Tool Center Point Function for B-Type Five-Axis Machine Tool

2013 ◽  
Vol 284-287 ◽  
pp. 493-497
Author(s):  
Chen Hua She ◽  
Wen Yuh Jywe ◽  
Jheng Jie Huang
Keyword(s):  
Machine Tool ◽  
Machine Tools ◽  
Simulation Software ◽  
Free Form ◽  
Motion Error ◽  
Center Point ◽  
Wide Range ◽  
Assembly Error ◽  
Five Axis ◽  
Free Form Surfaces

Five-axis machine tools with three linear axes and two rotary axes can produce complex products with free-form surfaces requiring a high degree of precision. However, motion errors of each axis and its assembly error are accumulated in the positioning error of the cutting tool relative to a workpiece. There are many devices reported in the literature on the identification of kinematic errors based on the measurement of the motion error. According to the measurement paths in the ISO draft, ISO/CD 10791-6, the kinematic tests can be applicable to different configurations of five-axis machine tools. However, the advanced controller with tool center point (TCP) function is required while performing kinematic tests. This paper proposed the methodology of generating measurement path without TCP function for B-type five-axis machine tool. The developed module can transform the measuring path into an NC program used for lower hand controller. Verification using VERICUT solid cutting simulation software demonstrated the veracity of the generated five-axis NC code. The proposed methodology is applicable in a wide range of five-axis machine tool configurations; however, further testing with actual measuring applications will be required for further verification.

Study on the dynamic accuracy in skillful operating of working plate to control of ball rolling motion with a dual arm robot

2015 ◽  
Vol 81 (822) ◽  
pp. 14-00486-14-00486
Author(s):  
Shun KINOSHITA ◽  
Wei WU ◽  
Toshiki HIROGAKI ◽  
Eiichi AOYAMA
Keyword(s):  
Rolling Motion ◽  
Dynamic Accuracy ◽  
Ball Rolling ◽  
Dual Arm Robot ◽  
Dual Arm

Geometric Error Identification and Compensation for Rotation Axes of Five-Axis Machine Tools

2011 ◽  
Vol 338 ◽  
pp. 786-791 ◽  
Author(s):  
Wang Wei Chu ◽  
Shao Wei Zhu ◽  
Yu Peng ◽  
Guo Fu Ding
Keyword(s):  
Machine Tool ◽  
Machine Tools ◽  
Geometric Error ◽  
Machining Accuracy ◽  
Error Identification ◽  
Rotation Axes ◽  
Process System ◽  
Prototype Software ◽  
Multi Body ◽  
Five Axis

In NC machining, the precision of the final parts is affected by many factors, including geometric deviation of machine tool components and structures, deformation of process system caused by cutting force and cutting heat, servo delay, tool wear and so on. Among which geometric error of machine tool is one of the most important factors. This study focused on geometric error identification and compensation of rotation axes of five-axis machine tools. A new method was proposed to identify the 6 geometric error parameters of each rotation axes of five-axis machine tools based on a ball-bar system. Regarding the machine tool as a rigid multi-body system (MBS), a geometric error model was established based on homogeneous transfer matrix (HTM). Finally, the geometric errors were compensated by correcting NC codes by the prototype software system developed in this study. An experiment and an application were conducted and the results show that the proposed method is effective to improve the machining accuracy.

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