Force-based control of a compact spinal milling robot

2010 ◽  
pp. n/a-n/a ◽  
Author(s):  
Tianmiao Wang ◽  
Sheng Luan ◽  
Lei Hu ◽  
Zhongjun Liu ◽  
Weishi Li ◽  
...  
Keyword(s):  
Milling Robot

Pose-dependent modal behavior of a milling robot in service

2020 ◽  
Vol 107 (1-2) ◽  
pp. 527-533 ◽  
Author(s):  
Asia Maamar ◽  
Vincent Gagnol ◽  
Thien-Phu Le ◽  
Laurent Sabourin
Keyword(s):  
Modal Behavior ◽  
Milling Robot

scholarly journals Enhanced Absolute Accuracy of an Industrial Milling Robot Using Stereo Camera System

2016 ◽  
Vol 26 ◽  
pp. 389-398 ◽  
Author(s):  
Christian Möller ◽  
Hans Christian Schmidt ◽  
Nihar Hasmukhbhai Shah ◽  
Jörg Wollnack
Keyword(s):  
Absolute Accuracy ◽  
Camera System ◽  
Stereo Camera ◽  
Milling Robot

Improvement of the Static and Dynamic Behavior of a Milling Robot

2015 ◽  
Vol 9 (2) ◽  
pp. 129-133 ◽  
Author(s):  
Michael Friedrich Zaeh ◽  
◽  
Oliver Roesch
Keyword(s):  
Dynamic Behavior ◽  
Machine Tools ◽  
Dynamic Stiffness ◽  
Industrial Robots ◽  
Machining Processes ◽  
Industrial Management ◽  
The Stability ◽  
Milling Robot ◽  
High Flexibility ◽  
Path Deviation

Because of the high flexibility and low investment costs, industrial robots are increasingly being employed for machining processes. However, milling robots can only be used for applications requiring low accuracy and minor cutting forces. The main reason for this is the low static and dynamic stiffness of the robot structure, which lead to huge deflections of the tool and heavy chatter oscillations, especially when steel is being machined. To extend the areas in which milling robots are applied, a model-based controller to compensate for path deviation has been developed at the Institute of Machine Tools and Industrial Management of TU Munich (iwb). In addition, process-based strategies to reduce chatter have been analyzed. This paper focuses on the dynamic behavior of robots to increase the stability of the cutting process, but it also gives an overview of the design of the controller for static deviation compensation.

On the tool-path optimization of a milling robot

2002 ◽  
Vol 43 (3) ◽  
pp. 455-472 ◽  
Author(s):  
S.S. Makhanov ◽  
D. Batanov ◽  
E. Bohez ◽  
K. Sonthipaumpoon ◽  
W. Anotaipaiboon ◽  
...  
Keyword(s):  
Tool Path ◽  
Path Optimization ◽  
Tool Path Optimization ◽  
Milling Robot

scholarly journals Design of eddy current dampers for vibration suppression in robotic milling

2018 ◽  
Vol 10 (11) ◽  
pp. 168781401881407 ◽  
Author(s):  
Fan Chen ◽  
Huan Zhao
Keyword(s):  
Eddy Current ◽  
Vibration Suppression ◽  
Milling Process ◽  
Magnetic Flux Density ◽  
Depth Of Cut ◽  
Chatter Suppression ◽  
Robotic Milling ◽  
Eddy Current Damper ◽  
Damper Design ◽  
Milling Robot

The milling robot normally has a low stiffness which may easily cause chatter during machining. This article presents a novel eddy current damper design for chatter suppression in the robotic milling process. The designed eddy current dampers are installed on the milling spindle to damp the tool tip vibrations. The structural design and the working principle of the eddy current dampers are explained. The magnetic flux density distribution and the magnetic force generation of the designed eddy current damper are analyzed with the finite element method. The tool tip dynamics without and with eddy current dampers are modeled, and the damping performance of the proposed eddy current dampers in the robotic milling process is verified through both simulations and experiments. The results show that the peaks of the tool tip frequency response function caused by the milling tool modes are damped significantly, and the stable depth of cut is improved greatly with eddy current dampers.

scholarly journals A Compact, Bone-Attached Robot for Mastoidectomy

2015 ◽  
Vol 9 (3) ◽  
Author(s):  
Neal P. Dillon ◽  
Ramya Balachandran ◽  
J. Michael Fitzpatrick ◽  
Michael A. Siebold ◽  
Robert F. Labadie ◽  
...  
Keyword(s):  
Computed Tomography ◽  
High Speed ◽  
Degrees Of Freedom ◽  
Compact Bone ◽  
Target Volume ◽  
Surgical Workflow ◽  
The Mean ◽  
Milling Robot ◽  
High Level ◽  
Temporal Bones

Otologic surgery often involves a mastoidectomy, which is the removal of a portion of the mastoid region of the temporal bone, to safely access the middle and inner ear. The surgery is challenging because many critical structures are embedded within the bone, making them difficult to see and requiring a high level of accuracy with the surgical dissection instrument, a high-speed drill. We propose to automate the mastoidectomy portion of the surgery using a compact, bone-attached robot. The system described in this paper is a milling robot with four degrees-of-freedom (DOF) that is fixed to the patient during surgery using a rigid positioning frame screwed into the surface of the bone. The target volume to be removed is manually identified by the surgeon pre-operatively in a computed tomography (CT) scan and converted to a milling path for the robot. The surgeon attaches the robot to the patient in the operating room and monitors the procedure. Several design considerations are discussed in the paper as well as the proposed surgical workflow. The mean targeting error of the system in free space was measured to be 0.5 mm or less at vital structures. Four mastoidectomies were then performed in cadaveric temporal bones, and the error at the edges of the target volume was measured by registering a postoperative computed tomography (CT) to the pre-operative CT. The mean error along the border of the milled cavity was 0.38 mm, and all critical anatomical structures were preserved.

scholarly journals A Study on Improvement of Machining Precision in a Medical Milling Robot

2009 ◽  
Vol 22 (2) ◽  
pp. 66-73
Author(s):  
Naohiko Sugita ◽  
Takayuki Osa ◽  
Yoshikazu Nakajima ◽  
Masahiko Mori ◽  
Hidenori Saraie ◽  
...  
Keyword(s):  
Machining Precision ◽  
Milling Robot

Interference Free Tool Path Generation in Multi-Axis Milling Machine for Orthopedic Surgery

2009 ◽  
Vol 3 (5) ◽  
pp. 514-522 ◽  
Author(s):  
Taiga Nakano ◽  
◽  
Naohiko Sugita ◽  
Takeharu Kato ◽  
Kazuo Fujiwara ◽  
...  
Keyword(s):  
Orthopedic Surgery ◽  
Tool Path ◽  
Soft Tissues ◽  
Cutting Tool ◽  
Force Sensor ◽  
Toolpath Generation ◽  
Novel Approach ◽  
Tool Interference ◽  
Definition Of ◽  
Milling Robot

Tool interference causes serious damage to surrounding soft tissue in minimally invasive orthopedic surgery with a milling robot. The objective of this study is to avoid the collision of cutting tool with complicated shapes, and a novel approach of interference-free toolpath generation in a short intraoperative time is proposed. In order to resolve this issue, we propose the following two methods: intraoperative modeling of soft tissues as an interference area and interference-free toolpath generation based on the model. A model is constructed to represent the opening area and the internal tissues by using a 3-dimensional optical position sensor to measure them. Based on the constructed model, interference-free toolpath is immediately determined by the preliminary definition of evacuating direction. The effectiveness of the proposed method is evaluated with artificial models on the system that the authors have developed so far. A tool contact force against the model was measured by a force sensor mounted on the cutting tool. The result revealed that the tool interference was greatly reduced by implementing the proposed method.

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