Приказ основних података о документу
Identifikacija, modeliranje i kompenzacija grešaka usled statičke popustljivosti robota za obradu
Identification, modelling and compensation of errors due to machining
dc.contributor.advisor | Milutinović, Dragan | |
dc.contributor.other | Tanović, Ljubodrag | |
dc.contributor.other | Puzović, Radovan | |
dc.contributor.other | Glavonjić, Miloš | |
dc.contributor.other | Borovac, Branislav | |
dc.creator | Slavković, Nikola | |
dc.date.accessioned | 2022-09-19T15:07:29Z | |
dc.date.available | 2022-09-19T15:07:29Z | |
dc.date.issued | 2015 | |
dc.identifier.uri | http://eteze.bg.ac.rs/application/showtheses?thesesId=2891 | |
dc.identifier.uri | https://nardus.mpn.gov.rs/handle/123456789/5348 | |
dc.identifier.uri | https://fedorabg.bg.ac.rs/fedora/get/o:11107/bdef:Content/download | |
dc.identifier.uri | http://vbs.rs/scripts/cobiss?command=DISPLAY&base=70036&RID=514590627 | |
dc.identifier.uri | https://machinery.mas.bg.ac.rs/handle/123456789/32 | |
dc.description.abstract | U radu se polazi od razvijenog obradnog sistema na bazi robota za višeosnu obradu delova od mekših materijala niže i srednje klase tačnosti. Razvoj ovakvog sistema je obuhvatio dve grupe problema. Prvi, razvoj sistema upravljanja i programiranja robota u G-kodu i drugi, poboljšanje tačnosti obrade kroz kompenzaciju grešaka obrade usled statičke popustljivosti robota, što predstavlja i osnovni cilj istraživanja u ovoj disertaciji. U cilju modeliranja i identifikacije ovih grešaka izvršeno je modeliranje statičke popustljivosti eksperimentalnog robota. Razvijeni pristup modeliranja statičke popustljivosti robota daje uvid u uticaj popustljivosti svakog pojedinačnog zgloba na popustljivost robota u Dekartovom prostoru, što ga čini višestruko primenljivim. Ovaj pristup je omogućio i razvoj eksperimentalnog metoda identifikacije popustljivosti robota i eksperimentalno analitičkog pristupa identifikacije rezultujućih popustljivosti zglobova koje predstavljaju glavne izvore popustljivosti robota. Za ovako razvijen model popustljivosti robota, s obzirom na mogućnost da se robot programira u G-kodu, u ovoj disertaciji je razvijen metod off-line kompenzacije statičkih grešaka izazvanih silama rezanja. Ideja razvijenog metoda je modifikacija programirane putanje korigovanjem G-koda prema izračunatim statičkim pomerajima vrha alata. Ovi pomeraji se izračunavaju primenom razvijenog modela popustljivosti robota i mehanističkog modela sila rezanja poznatog u literaturi. Razvijeni metod off-line kompenzacije grešaka stvara realne pretpostavke za praktičnu primenu robota u obradi. Metod je direktno primenljiv od strane programera i operatera koji imaju iskustva u CNC tehnologiji i programiranju u G-kodu. Eksperimentalnim obradama sa i bez kompenzacije grešaka pokazana je efikasnost razvijenog off-line metoda kompenzacije. Dobijeni rezultati su pokazali da se primenom razvijenog metoda kompenzacije grešaka može ostvariti zadata tačnost obrade u očekivanim granicama za robote, jer na greške obrade utiču i dinamika robota, krutost motornog vretena, itd. | sr |
dc.description.abstract | The work starts from the developed robotic machining system for multiaxis machining of lower- and medium-accuracy class lightweight materials. The development of such system comprised two groups of problems. First, the development of robot control and programming in G-code and, second, improvement of machining accuracy through machining errors compensation due to robot static compliance, which represents the main goal of investigations in this doctoral dissertation. For the purpose of modelling and identifying these errors, static compliance modelling of the experimental robot has been done. The developed approach to modelling robot static compliance provides an insight into the impact of each individual joint compliance on robot static compliance within a Cartesian space, making it multi-purpose applicable. The approach has also enabled the development of experimental method for identifying robot compliance and experimental analytical approach for identifying the resulting compliances of joints, representing the major sources of robot compliance. For such developed model of robot static compliances as well as the possibility of programming the machining robot in G-code, a method of off-line compensation of cutting force-induced static errors has been developed. The idea underlying the developed method is modification of programmed machining path by correcting G-code according to calculated tool tip static displacements. These displacements are calculated by applying the developed robot compliance model and cutting forces mechanistic model well-known in the literature. The developed method for off-line error compensation creates realistic assumptions for practical robot application in machining. The method is straightforward applicable by programmers and operators experienced in CNC technology and programming in G-code. Experimental machining with and without error compensation evidenced the efficiency of the developed off-line method for error compensation. The obtained results indicate that the application of the developed method for error compensation can achieve specified machining accuracy within the expected limits for robots since machining errors also influence robot dynamics, motor spindle stiffness, etc. | en |
dc.language | sr | |
dc.publisher | Univerzitet u Beogradu, Mašinski fakultet | |
dc.relation | info:eu-repo/grantAgreement/MESTD/Technological Development (TD or TR)/35022/RS// | |
dc.rights | openAccess | |
dc.rights.uri | https://creativecommons.org/licenses/by-nc-nd/4.0/ | |
dc.subject | sistem upravljanja i programiranja | sr |
dc.subject | obradni sistemi na bazi robota | sr |
dc.subject | modeliranje robota | sr |
dc.subject | modeliranje popustljivosti robota | sr |
dc.subject | kompenzacioni algoritmi | sr |
dc.subject | identifikacija popustljivosti robota | sr |
dc.subject | greške obrade | sr |
dc.subject | robotic machining systems | en |
dc.subject | robot modelling | en |
dc.subject | robot compliance modelling | en |
dc.subject | robot compliance identification | en |
dc.subject | machining errors | en |
dc.subject | control and programming system | en |
dc.subject | compensation algorithms | en |
dc.title | Identifikacija, modeliranje i kompenzacija grešaka usled statičke popustljivosti robota za obradu | sr |
dc.title | Identification, modelling and compensation of errors due to machining | en |
dc.type | doctoralThesis | |
dc.rights.license | BY-NC-ND | |
dc.identifier.fulltext | http://machinery.mas.bg.ac.rs/bitstream/id/8497/29.pdf | |
dc.identifier.rcub | https://hdl.handle.net/21.15107/rcub_nardus_5348 | |
dc.type.version | publishedVersion |