Simulation of compensated tool path through virtual robot machining model
Само за регистроване кориснике
2020
Чланак у часопису (Објављена верзија)
Метаподаци
Приказ свих података о документуАпстракт
Nowadays, industrial robots could be a successful alternative to machine tools for milling of large parts with complex geometry. As it is known, poor accuracy which is most influenced by the stiffness of robot structure is recognized as a limiting factor for successful use of robots in milling tasks. Since there are different sources of error in robots, virtual manufacturing systems provide a useful means for products to be manufactured without the need of physical testing on the shop floor. This paper presents the developed virtual robot machining model, as a part of digital twin, for the simulation of a modified tool path generated by the compensation algorithm for the errors induced by cutting forces due to robot compliance. This part of digital twin includes the robot kinematic model, the Cartesian space robot compliance model, the model of cutting forces and the developed program based on off-line compensation algorithm. Development of such virtual robot machining model is importa...nt for the validation of modified tool path before the machining on a real robot. The developed virtual robot machining model is verified via several experiments, where the simulated surfaces are compared with the real machined surfaces generated by tool movement through a modified, i.e., corrected, trajectory on an available industrial robot programmed in G-code.
Кључне речи:
Virtual model / Robot machining / Off-line compensation / Compliance analysisИзвор:
Journal of The Brazilian Society of Mechanical Sciences and Engineering, 2020, 42, 7Издавач:
- Springer Heidelberg, Heidelberg
Финансирање / пројекти:
- Развој нове генерације домаћих обрадних система (RS-MESTD-Technological Development (TD or TR)-35022)
DOI: 10.1007/s40430-020-02461-9
ISSN: 1678-5878
WoS: 000543353600001
Scopus: 2-s2.0-85086740103
Колекције
Институција/група
Mašinski fakultetTY - JOUR AU - Slavković, Nikola AU - Živanović, Saša AU - Kokotović, Branko AU - Dimić, Zoran AU - Milutinović, Milan PY - 2020 UR - https://machinery.mas.bg.ac.rs/handle/123456789/3388 AB - Nowadays, industrial robots could be a successful alternative to machine tools for milling of large parts with complex geometry. As it is known, poor accuracy which is most influenced by the stiffness of robot structure is recognized as a limiting factor for successful use of robots in milling tasks. Since there are different sources of error in robots, virtual manufacturing systems provide a useful means for products to be manufactured without the need of physical testing on the shop floor. This paper presents the developed virtual robot machining model, as a part of digital twin, for the simulation of a modified tool path generated by the compensation algorithm for the errors induced by cutting forces due to robot compliance. This part of digital twin includes the robot kinematic model, the Cartesian space robot compliance model, the model of cutting forces and the developed program based on off-line compensation algorithm. Development of such virtual robot machining model is important for the validation of modified tool path before the machining on a real robot. The developed virtual robot machining model is verified via several experiments, where the simulated surfaces are compared with the real machined surfaces generated by tool movement through a modified, i.e., corrected, trajectory on an available industrial robot programmed in G-code. PB - Springer Heidelberg, Heidelberg T2 - Journal of The Brazilian Society of Mechanical Sciences and Engineering T1 - Simulation of compensated tool path through virtual robot machining model IS - 7 VL - 42 DO - 10.1007/s40430-020-02461-9 ER -
@article{ author = "Slavković, Nikola and Živanović, Saša and Kokotović, Branko and Dimić, Zoran and Milutinović, Milan", year = "2020", abstract = "Nowadays, industrial robots could be a successful alternative to machine tools for milling of large parts with complex geometry. As it is known, poor accuracy which is most influenced by the stiffness of robot structure is recognized as a limiting factor for successful use of robots in milling tasks. Since there are different sources of error in robots, virtual manufacturing systems provide a useful means for products to be manufactured without the need of physical testing on the shop floor. This paper presents the developed virtual robot machining model, as a part of digital twin, for the simulation of a modified tool path generated by the compensation algorithm for the errors induced by cutting forces due to robot compliance. This part of digital twin includes the robot kinematic model, the Cartesian space robot compliance model, the model of cutting forces and the developed program based on off-line compensation algorithm. Development of such virtual robot machining model is important for the validation of modified tool path before the machining on a real robot. The developed virtual robot machining model is verified via several experiments, where the simulated surfaces are compared with the real machined surfaces generated by tool movement through a modified, i.e., corrected, trajectory on an available industrial robot programmed in G-code.", publisher = "Springer Heidelberg, Heidelberg", journal = "Journal of The Brazilian Society of Mechanical Sciences and Engineering", title = "Simulation of compensated tool path through virtual robot machining model", number = "7", volume = "42", doi = "10.1007/s40430-020-02461-9" }
Slavković, N., Živanović, S., Kokotović, B., Dimić, Z.,& Milutinović, M.. (2020). Simulation of compensated tool path through virtual robot machining model. in Journal of The Brazilian Society of Mechanical Sciences and Engineering Springer Heidelberg, Heidelberg., 42(7). https://doi.org/10.1007/s40430-020-02461-9
Slavković N, Živanović S, Kokotović B, Dimić Z, Milutinović M. Simulation of compensated tool path through virtual robot machining model. in Journal of The Brazilian Society of Mechanical Sciences and Engineering. 2020;42(7). doi:10.1007/s40430-020-02461-9 .
Slavković, Nikola, Živanović, Saša, Kokotović, Branko, Dimić, Zoran, Milutinović, Milan, "Simulation of compensated tool path through virtual robot machining model" in Journal of The Brazilian Society of Mechanical Sciences and Engineering, 42, no. 7 (2020), https://doi.org/10.1007/s40430-020-02461-9 . .