Automation of Chamfering by an Industrial Robot; Development of a System with Reference to Tool Application Direction

2001 ◽  
Vol 13 (1) ◽  
pp. 30-35 ◽  
Author(s):  
Naoki Asakawa ◽  
◽  
Yoshio Mizumoto ◽  
Yoshimi Takeuchi ◽  
Keyword(s):  
Complex Shape ◽  
Tool Path ◽  
Industrial Robot ◽  
Force Sensor ◽  
Experimental Results ◽  
Curved Surface ◽  
Linear Actuators ◽  
Articulated Robot

The study deals with the automatic chamfering for a workpiece with complex shape on the basis of CAD data, using an industrial robot. Tool path, pushing direction and force at the each chamfering point are calculated from CAD data both to keep chamfering conditions stable and to keep a larger range in space by use of a developed system, named TADRPECS, for workpieces with complex shape. As a chamfering tool, a rotary-bar type tool consisting of a force sensor and two linear actuators are mounted to the arm of an articulated robot. From experimental results, the system is found to be effective to chamfer edges of a hole on a workpiece with free curved surface.

scholarly journals Modeling in ADAMS of a 6R industrial robot

2018 ◽  
Vol 184 ◽  
pp. 02006
Author(s):  
Mariana Ratiu ◽  
Alexandru Rus ◽  
Monica Loredana Balas
Keyword(s):  
Dynamic Analysis ◽  
Industrial Robot ◽  
Kinematic Model ◽  
Future Research ◽  
Robot Motion ◽  
Cad Model ◽  
3D Cad ◽  
Revolute Joints ◽  
Real Model ◽  
Articulated Robot

In this paper, we present the first steps in the process of the modeling in ADAMS MBS of MSC software of the mechanical system of an articulated robot, with six revolute joints. The geometric 3D CAD model of the robot, identical to the real model, in the PARASOLID format, is imported into ADAMS/View and then are presented the necessary steps for building the kinematic model of the robot. We conducted this work, in order to help us in our future research, which will consist of kinematic and dynamic analysis and optimization of the robot motion.

Compensations of the Discontinuous Nonlinearities in the Independent Joints Control of an Articulated Robot

2013 ◽  
Vol 430 ◽  
pp. 135-142
Author(s):  
Danut Receanu
Keyword(s):  
Industrial Robot ◽  
Linear Control ◽  
Torsional Vibrations ◽  
Low Speed ◽  
Discontinuous Nonlinearities ◽  
Articulated Robot

The paper presents the nonlinear torsional vibrations control of the joints in an articulated industrial robot, in Simulink /MATLAB. In this case, it is considered the classical linear control combined with compensations of the natural discontinuous nonlinearities in a robot with low speed.

Comparison between an Advanced Numerical Simulation of Sheet Incremental Forming Using Adaptive Remeshing and Experimental Results

2013 ◽  
Vol 554-557 ◽  
pp. 1375-1381 ◽  
Author(s):  
Laurence Giraud-Moreau ◽  
Abel Cherouat ◽  
Jie Zhang ◽  
Houman Borouchaki
Keyword(s):  
Numerical Simulation ◽  
Numerical Model ◽  
Sheet Metal ◽  
Metal Forming ◽  
Tool Path ◽  
Incremental Forming ◽  
Computation Time ◽  
Experimental Results ◽  
Forming Process ◽  
Adaptive Remeshing

Recently, new sheet metal forming technique, incremental forming has been introduced. It is based on using a single spherical tool, which is moved along CNC controlled tool path. During the incremental forming process, the sheet blank is fixed in sheet holder. The tool follows a certain tool path and progressively deforms the sheet. Nowadays, numerical simulations of metal forming are widely used by industry to predict the geometry of the part, stresses and strain during the forming process. Because incremental forming is a dieless process, it is perfectly suited for prototyping and small volume production [1, 2]. On the other hand, this process is very slow and therefore it can only be used when a slow series production is required. As the sheet incremental forming process is an emerging process which has a high industrial interest, scientific efforts are required in order to optimize the process and to increase the knowledge of this process through experimental studies and the development of accurate simulation models. In this paper, a comparison between numerical simulation and experimental results is realized in order to assess the suitability of the numerical model. The experimental investigation is realized using a three-axis CNC milling machine. The forming tool consists in a cylindrical rotating punch with a hemispherical head. A subroutine has been developed to describe the tool path from CAM procedure. A numerical model has been developed to simulate the sheet incremental forming process. The finite element code Abaqus explicit has been used. The simulation of the incremental forming process stays a complex task and the computation time is often prohibitive for many reasons. During this simulation, the blank is deformed by a sequence of small increments that requires many numerical increments to be performed. Moreover, the size of the tool diameter is generally very small compared to the size of the metal sheet and thus the contact zone between the tool and the sheet is limited. As the tool deforms almost every part of the sheet, small elements are required everywhere in the sheet resulting in a very high computation time. In this paper, an adaptive remeshing method has been used to simulate the incremental forming process. This strategy, based on adaptive refinement and coarsening procedures avoids having an initially fine mesh, resulting in an enormous computing time. Experiments have been carried out using aluminum alloy sheets. The final geometrical shape and the thickness profile have been measured and compared with the numerical results. These measurements have allowed validating the proposed numerical model. References [1] M. Yamashita, M. Grotoh, S.-Y. Atsumi, Numerical simulation of incremental forming of sheet metal, J. Processing Technology, No. 199 (2008), p. 163 172. [2] C. Henrard, A.M. Hbraken, A. Szekeres, J.R. Duflou, S. He, P. Van Houtte, Comparison of FEM Simulations for the Incremental Forming Process, Advanced Materials Research, 6-8 (2005), p. 533-542.

Effect of process parameters on formability in two-point incremental forming-machining of planar and twisted AA5083 blades

2022 ◽  
pp. 095440542110697
Author(s):  
Hossein Ghorbani-Menghari ◽  
Mehrdad Azadipour ◽  
Mehran Ghasempour-Mouziraji ◽  
Young Hoon Moon ◽  
Ji Hoon Kim
Keyword(s):  
Tool Path ◽  
Incremental Forming ◽  
Dimensional Accuracy ◽  
Numerical Control ◽  
Machining Process ◽  
Curved Surface ◽  
Forming Process ◽  
Forming Temperature ◽  
Feature Based ◽  
Tool Diameter

The deformation machining process (DMP) involves machining and incremental forming of thin structures. It can be applied for manufacturing products such as curved-surface blades without using 5-axis computerised numerical control machines. This work presents the effect of tool diameter and forming temperature on spring-back and dimensional accuracy of a simple fabricated part. The results of the first phase of the study are utilised to design the fabrication process of a curved surface blade. A feature-based algorithm is used to design the tool path for the forming process. The dimensional accuracy of the final product is improved through warm forming, two-point incremental forming, and extension of the bending zone to the outside of the product edges. The results show that DMP can be used to fabricate complex curved-surface workpieces with acceptable dimensional accuracy.

Implementation of Adaptive Techniques for Motion Control of Robotic Manipulators

1988 ◽  
Vol 110 (1) ◽  
pp. 62-69 ◽  
Author(s):  
M. Tomizuka ◽  
R. Horowitz ◽  
G. Anwar ◽  
Y. L. Jia
Keyword(s):  
Adaptive Control ◽  
Industrial Robot ◽  
Robotic Manipulators ◽  
Adaptive Controller ◽  
Test Stand ◽  
Experimental Results ◽  
Direct Drive ◽  
Adaptive Controllers ◽  
Friction Forces ◽  
Digital Implementation

This paper is concerned with the digital implementation and experimental evaluation of two adaptive controllers for robotic manipulators. The first is a continuous time model reference adaptive controller, and the second is a discrete time adaptive controller. The primary purpose of these adaptive controllers is to compensate for inertial variations due to changes in configuration and payload, as well as disturbances, such as Coulomb friction and/or gravitational forces. Experimental results are obtained from a laboratory test stand, which emulates an one-axis direct drive robot arm with variable inertia, as well as a Toshiba TSR-500V industrial robot. Experimental results from the test stand indicate that these adaptive control schemes are promising for the control of direct drive robot arms. Friction forces arising from the harmonic gear of the Toshiba robot were detrimental if not properly compensated. Because of a high gearing ratio, the advantage of adaptive control for the Toshiba arm could be shown only by detuning the controller.

Modified Zero Time Delay Input Shaping for Industrial Robot With Flexibility

2017 ◽  
Author(s):  
Yu Zhao ◽  
Masayoshi Tomizuka
Keyword(s):  
Time Delay ◽  
Vibration Suppression ◽  
Industrial Robot ◽  
Experimental Results ◽  
Input Shaping ◽  
Smooth Motion ◽  
Zero Time

Although input shaping is an effective approach for vibration suppression in a variety of applications, the time delay introduced is not desired. Current techniques to reduce the time delay can not guarantee zero delay or may cause non-smooth motion, which is harmful for the actuators. In order to address such issue, a modified zero time delay input shaping is proposed in this paper. Experimental results show the advantage of the proposed approach.

scholarly journals Automation of Operations Design for Complex-Shaped Surfaces Processing

2019 ◽  
Vol 297 ◽  
pp. 05008
Author(s):  
Margarita Markova ◽  
Andrey Markov ◽  
Aleksandr Balashov ◽  
Norbert Sczygiol
Keyword(s):  
Complex Shape ◽  
Tool Path ◽  
Research Work ◽  
Cutting Tools ◽  
Minimal Processing ◽  
Technical Requirements ◽  
Milling Operations ◽  
Processed Material ◽  
Cad Cam ◽  
Cutting Modes

Research work is aimed at modeling the process of milling surfaces of complex shape in automated CAD/CAM systems. To reduce labour input of this process, an algorithm for designing milling operations is proposed. The algorithm is implemented in the form of software written in the VBA programming language from Office Excel. The software allows to select cutting tools and cutting modes for roughing, semi-finishing and finishing milling. The initial data for this are: processed material, part configuration, profile depth, technical requirements on the surface. The work of the algorithm was tested on the parts of the mold type. It is found that the set of cutting tools for all types of milling surfaces of complex shape is selected taking into account the overall dimensions of the treated surface, its curvature and radii of surfaces rounding. The results of simulation of mold processing in Sprut CAM system according to the assigned set of cutting tools and cutting modes allowed to choose the tool path with minimal processing time.

Improving the Reliability of RFID Interrogator by an Inclined Contact Surface Design in Vehicle Infrastructure Cooperation Systems

2014 ◽  
Vol 525 ◽  
pp. 297-300
Author(s):  
Xu Xu ◽  
Yi Zhang
Keyword(s):  
Radio Frequency ◽  
Contact Surface ◽  
Radio Frequency Identification ◽  
Energy Coupling ◽  
Experimental Results ◽  
Curved Surface ◽  
Surface Design ◽  
Frequency Identification

An inclined contact surface design for Radio Frequency Identification (RFID) interrogator with easy-pick gaps has been developed. Compared with the curved surface and pallet surface, the performance of inclined contact surface has been investigated in the calculated electromagnetic configurations and experimental results. It is found that the inclined contact surface has the improved reliability of data writing of RFID. By experimentally and theoretically analyzing, the improved reliability is considered to be the combined results of the energy coupling configurations and the depressed material contacts effect.

Polishing path generation for physical uniform coverage of the aspheric surface based on the Archimedes spiral in bonnet polishing

2019 ◽  
Vol 233 (12) ◽  
pp. 2251-2263 ◽  
Author(s):  
Qizhi Zhao ◽  
Lei Zhang ◽  
Yanjun Han ◽  
Cheng Fan
Keyword(s):  
Tool Path ◽  
Curved Surface ◽  
Path Generation ◽  
Aspheric Surface ◽  
Polishing Process ◽  
Bonnet Polishing ◽  
Archimedes Spiral ◽  
Uniform Coverage ◽  
Polishing Path ◽  
Polishing Tool

As a new polishing method, bonnet polishing is suitable for polishing the curved surface due to its advantages in flexibility and adaptability of the polishing tool. In the polishing process, the contact state between the bonnet and the curved surface always changes. The traditional polishing tool path with equal interval will inevitably lead to over-polished areas and unpolished areas. In this article, a new tool path for bonnet polishing, which is called the revised Archimedes spiral polishing path, is proposed to ensure the physical uniform coverage of the curved surface in bonnet polishing. The path generation method is based on the modified tool–workpiece contact model and the pointwise searching algorithm. To prove the effectiveness of the revised path, two aspheric workpieces were polished along the traditional Archimedes spiral polishing path and the revised path, respectively. The roughnesses of the two workpieces are 10.94 and 10 nm, and the profile tolerances are 0.4097 and 0.2037 μm, respectively. The experimental results show that the revised path achieves lower roughness and surface tolerance than the traditional Archimedes path, which indicates that the revised path can achieve uniform physical coverage on the surface.

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