Abstract
Industrial robots are used in a great variety of applications for handling, welding, assembling and milling operations. Especially for machining operations, industrial robots represent a cost-saving and flexible alternative compared to standard machine tools. Reduced pose and path accuracy, especially under process force load due to the high mechanical compliance, restrict the use of industrial robots for machining applications with high accuracy requirements. In this chapter, a method is presented to predict and compensate path deviation of robots resulting from process forces. A process force simulation based on a material removal calculation is presented. Furthermore, a rigid multi-body dynamic system’s model of the robot is extended by joint elasticities and tilting effects, which are modeled by spring-damper-models at actuated and additional virtual axes. By coupling the removal simulation with the robot model the interaction of the milling process with the robot structure can be analyzed by evaluating the path deviation and surface structure. With the knowledge of interaction along the milling path a general model-based path correction strategy is introduced to significantly improve accuracy in milling operations.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Abele, E., Bauer, J., Rothenbücher, S., Stelzer, M., Stryk, O.: Prediction of the Tool Displacement by Coupled Models of the Compliant Industrial Robot and the Milling Process. In: Conference on Process Machine Interaction, Hannover (2008)
Weigold, M.: Kompensation der Werkzeugabdrängung bei der spanenden Bearbeitung mit Industrierobotern. PhD Thesis TU Darmstadt (2008) ISBN 978-3-8322-7178-7
Altintas, Y.: Manufacturing Automation: Metal Cutting Mechanics, Machine Tool Vibrations and CNC Design. Cambridge University Press (2000)
Craig, J.J.: Robotics. Addison-Wesley (1989)
Walker, M.W., Orin, D.E.: Efficient Dynamics Computer Simulation of Robotic Mechanisms. Journal of Dynamic Systems, Measurement, and Control 104, 205–211 (1982)
Featherstone, R.: Rigid Body Dynamics Algorithms. Springer (2008)
Höpler, R.: A unifying object-oriented methodology to consolidate multibody dynamics computations in robot control, PhD Thesis TU Darmstadt (2004)
Stelzer, M.: Forward Dynamics Simulation and Optimization of Walking Robots and Humans, PhD Thesis TU Darmstadt (2007)
Friedmann, M.: Simulation of Autonomous Robot Teams with Adaptable Levels of Abstraction, PhD Thesis TU Darmstadt (2009)
Walther, A., Griewank, A.: ADOL-C: A Package for the Automatic Differentiation of Algorithms Written in C/C++. Version 2.1.12, Documentation, https://projects.coin-or.org/ADOL-C
von Stryk, O.: User’s Guide for DIRCOL (Version 2.1): a direct collocation method for the numerical solution of optimal control problems, TU Darmstadt (2000), http://www.sim.informatik.tu-darmstadt.de/sw/dircol
Rehling, S.: Technologische Erweiterung der Simulation von NC-Fertigungsprozessen, PhD Thesis Universität Hannover (2009)
Surmann, T.: Geometrisch-physikalische Simulation der Prozessdynamik für das fünfachsige Fräsen von Freiformflächen, PhD Thesis TU Dortmund (2005)
Stautner, M.: Simulation und Optimierung der mehrachsigen Fräsbearbeitung, PhD Thesis TU Dortmund, München (2002) ISBN 3-8027-8732-3
Selle, J.: Technologiebasierte Fehlerkorrektur für das NC-Schlichtfräsen, PhD Thesis Universität Hannover (2005)
Weinert, K., Müller, H., Kreis, W., Surmann, T., Ayasse, J., Schüppstuhl, T., Kneupner, K.: Diskrete Werkstückmodellierung zur Simulation von Zerspanprozessen. In: Zeitschrift für wirtschaftlichen Fabrikbetrieb: ZWF, München, pp. 385–389 (2002) ISSN 0932-0482
KUKA Roboter GmbH. Data sheet KR 210-2. Gersthofen - Germany (July 2009), http://www.kuka-robotics.com
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2013 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Bauer, J. et al. (2013). Analysis of Industrial Robot Structure and Milling Process Interaction for Path Manipulation. In: Denkena, B., Hollmann, F. (eds) Process Machine Interactions. Lecture Notes in Production Engineering. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-32448-2_11
Download citation
DOI: https://doi.org/10.1007/978-3-642-32448-2_11
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-32447-5
Online ISBN: 978-3-642-32448-2
eBook Packages: EngineeringEngineering (R0)