A method for off-line compensation of cutting force-induced errors in robotic machining by tool path modification
Само за регистроване кориснике
2014
Чланак у часопису (Објављена верзија)
Метаподаци
Приказ свих података о документуАпстракт
Industrial robots are promising cost-effective and flexible alternatives for multi-axis milling applications in machining of complex parts of light materials with lower tolerances, having freeform surfaces. As it is well-known, the poor accuracy, stiffness, and the complexity of programming are the most important limiting factors for wider adoption of robotic machining in machine shops. The paper presents the developed method for off-line compensation of machining robot tool tip static displacements as a dominant part of cutting force-induced errors. The developed method is based on modification of programmed trajectory in G-code. Off-line modification of programmed trajectory is performed according to the predicted static tool tip displacements calculated based on developed robot compliance model and cutting forces predicted by mechanistic model. The obtained experimental results show the relevance of developed method since the machining errors could be significantly reduced. This all...ows the desired accuracy of robot machining to converge towards nominal specifications.
Кључне речи:
Robot / Off-line compensation / Machining / Machining errors / Compliance identificationИзвор:
International Journal of Advanced Manufacturing Technology, 2014, 70, 9-12, 2083-2096Издавач:
- Springer London Ltd, London
Финансирање / пројекти:
- Ministry of Education, Science and Technological Development of Serbia
DOI: 10.1007/s00170-013-5421-z
ISSN: 0268-3768
WoS: 000331565600048
Scopus: 2-s2.0-84896725380
Колекције
Институција/група
Mašinski fakultetTY - JOUR AU - Slavković, Nikola AU - Milutinović, Dragan AU - Glavonjić, Miloš PY - 2014 UR - https://machinery.mas.bg.ac.rs/handle/123456789/1999 AB - Industrial robots are promising cost-effective and flexible alternatives for multi-axis milling applications in machining of complex parts of light materials with lower tolerances, having freeform surfaces. As it is well-known, the poor accuracy, stiffness, and the complexity of programming are the most important limiting factors for wider adoption of robotic machining in machine shops. The paper presents the developed method for off-line compensation of machining robot tool tip static displacements as a dominant part of cutting force-induced errors. The developed method is based on modification of programmed trajectory in G-code. Off-line modification of programmed trajectory is performed according to the predicted static tool tip displacements calculated based on developed robot compliance model and cutting forces predicted by mechanistic model. The obtained experimental results show the relevance of developed method since the machining errors could be significantly reduced. This allows the desired accuracy of robot machining to converge towards nominal specifications. PB - Springer London Ltd, London T2 - International Journal of Advanced Manufacturing Technology T1 - A method for off-line compensation of cutting force-induced errors in robotic machining by tool path modification EP - 2096 IS - 9-12 SP - 2083 VL - 70 DO - 10.1007/s00170-013-5421-z ER -
@article{ author = "Slavković, Nikola and Milutinović, Dragan and Glavonjić, Miloš", year = "2014", abstract = "Industrial robots are promising cost-effective and flexible alternatives for multi-axis milling applications in machining of complex parts of light materials with lower tolerances, having freeform surfaces. As it is well-known, the poor accuracy, stiffness, and the complexity of programming are the most important limiting factors for wider adoption of robotic machining in machine shops. The paper presents the developed method for off-line compensation of machining robot tool tip static displacements as a dominant part of cutting force-induced errors. The developed method is based on modification of programmed trajectory in G-code. Off-line modification of programmed trajectory is performed according to the predicted static tool tip displacements calculated based on developed robot compliance model and cutting forces predicted by mechanistic model. The obtained experimental results show the relevance of developed method since the machining errors could be significantly reduced. This allows the desired accuracy of robot machining to converge towards nominal specifications.", publisher = "Springer London Ltd, London", journal = "International Journal of Advanced Manufacturing Technology", title = "A method for off-line compensation of cutting force-induced errors in robotic machining by tool path modification", pages = "2096-2083", number = "9-12", volume = "70", doi = "10.1007/s00170-013-5421-z" }
Slavković, N., Milutinović, D.,& Glavonjić, M.. (2014). A method for off-line compensation of cutting force-induced errors in robotic machining by tool path modification. in International Journal of Advanced Manufacturing Technology Springer London Ltd, London., 70(9-12), 2083-2096. https://doi.org/10.1007/s00170-013-5421-z
Slavković N, Milutinović D, Glavonjić M. A method for off-line compensation of cutting force-induced errors in robotic machining by tool path modification. in International Journal of Advanced Manufacturing Technology. 2014;70(9-12):2083-2096. doi:10.1007/s00170-013-5421-z .
Slavković, Nikola, Milutinović, Dragan, Glavonjić, Miloš, "A method for off-line compensation of cutting force-induced errors in robotic machining by tool path modification" in International Journal of Advanced Manufacturing Technology, 70, no. 9-12 (2014):2083-2096, https://doi.org/10.1007/s00170-013-5421-z . .