A method to improve the use of 6-dof robots as machine tools

Furtado, Luís Fernando Ferreira; Villani, Emília; Trabasso, Luı́s Gonzaga; Suterio, Ricardo

doi:10.1007/s00170-017-0336-8

Cited by 24 publications

(7 citation statements)

References 22 publications

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“…In addition, combining machining planning, programming and real-time control, Schreck et al [112] reported an industrial machining robot which could provide a solution for hard material machining of small-batch and highlycustomised products. Furtado et al [113] proposed an experiment based approach to evaluate the robot-machining aluminium workpiece. In their method, a five-step experiment was carried out to optimise robot poses, milling directions, cutting strategies and depth of cut, milling parameters, and to check the programmed velocity and configured parameters, and repeatability.…”

Section: Machining Processmentioning

confidence: 99%

Industrial robotic machining: a review

Wang

2019

Int J Adv Manuf Technol

244

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For the past three decades, robotic machining has attracted a large amount of research interest owning to the benefit of cost efficiency, high flexibility and multi-functionality of industrial robot. Covering articles published on the subjects of robotic machining in the past 30 years or so; this paper aims to provide an up-to-date review of robotic machining research works, a critical analysis of publications that publish the research works, and an understanding of the future directions in the field. The research works are organised into two operation categories, low material removal rate (MRR) and high MRR, according their machining properties, and the research topics are reviewed and highlighted separately. Then, a set of statistical analysis is carried out in terms of published years and countries. Towards an applicable robotic machining, the future trends and key research points are identified at the end of this paper.

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Section: Machining Processmentioning

confidence: 99%

Industrial robotic machining: a review

Wang

2019

Int J Adv Manuf Technol

244

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“…Sitton and Feikert and Von introduced a ONCE robotic drilling system that automates the hole inspection of a clamped wing trailing edge flaps of a Super hornet by using a vision system that measures the theoretical and the actual position of the hole, achieving a 1.5mm positional deviation [20]. Using four inductive sensors, a perpendicularity and deviation measurement was proposed by Furtado achieving the accuracy required [16]. Weidong and Biao introduced a robotic that utilizes four laser displacement sensors along with a camera as visual feedback that ensures a 0.1 mm accuracy of the holes [10] .…”

Section: Related Work a Autonomous Robotic Inspection Systemmentioning

confidence: 99%

“…Aerospace industry requires stringent accuracy standard of 0.5°in perpendicular accuracy [14] as the deviation impacts the interlayer gap between components, which further degrades the assembly accuracy. The accuracy of a robotic arm is not up to standard with the accuracy required by the aerospace industry [15] [16], unless extra sensors (camera, laser) are combined with the robot to increase the overall robotic system's accuracy. Therefore, this paper focuses on tackling the lack of automation in the aerospace industry by proposing a method to check for drill hole tilts in a series of related drills, very common in aerospace structures.…”

Section: Introductionmentioning

confidence: 99%

Autonomous Robotic Inspection System for Drill Holes Tilt: Feasibility and Development by Advanced Simulation and Real Testing

Morsi,

Mata,

Harrison

et al. 2023

2023 28th International Conference on Automation and Computing (ICAC)

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Industry 4.0 and forthcoming 5.0 introduce process methods that primarily rely on robotic systems to succeed. Robotic systems provide accuracy in inspection tasks over current methods. However, in the aerospace industry the required accuracy is beyond what a standard robotic arm can provide. This paper aims to introduce a simple finite state-controlled robotic system using image processing to guide the motion and evaluate the tilt of a series of drill holes using one of them as reference hole. The system is developed via simulation in RoboDK and then validated in both a simulated and a real setup, using an ABB GoFa robot. The inspection experiment is performed by aligning the camera optical axis to the first drill hole axis. By taking it as a reference, the rest of the holes are measured and compared with the reference one, and to the ground-truth results. Drill hole detection is refined using a proposed circle optimisation algorithm. Results demonstrate the validity of the approach with an error below 0.5 degrees.

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“…18 The RDOC is defined by the radial step over of the tool into the workpiece or the distance between toolpaths, with higher values leading to increased average surface roughness R a. 19 The ADOC defines the vertical distance along the tools axis that plunges into the workpiece, with higher values resulting in larger machining forces, increased vibrations and higher cell damage and therefore lower surface quality 19–21 . Recent studies 8 show that carefully specified mid‐range machining settings of ADOC and RDOC result in the best surface quality, with deterioration to be expected if certain limits are exceeded.…”

Section: Specimens Machines and Toolsmentioning

confidence: 99%

Investigation of industrial robots vs joinery machines for milling pockets in glulam: Comparison based on surface quality and 3D scans

Pantscharowitsch

Kromoser

2022

Civil Engineering Design

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Joinery machines (JM) are state‐of‐the art for subtractive machining of timber. When considering costs, availability and multi‐axis flexibility, industrial robots (IR) can be seen as a viable alternative as they show high potential for the increase of efficiency, workspace, and possibilities of machining. However, objective data for the quantification of this assumption are not available. This article investigates the capabilities of IRs for the milling of pockets in glued laminated timber. To enable a comparison, benchmark specimen milled using JMs were investigated alongside the pockets milled by IRs. The assessment was conducted by (a) nominal/actual geometry comparison, (b) the surface quality using the stylus method and an optical/haptic assessment, and (c) high‐resolution 3D scans. The results show that IRs as standalone solution are competitive and a valuable supplement for existing facilities.

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A method to improve the use of 6-dof robots as machine tools

Cited by 24 publications

References 22 publications

Industrial robotic machining: a review

Industrial robotic machining: a review

Autonomous Robotic Inspection System for Drill Holes Tilt: Feasibility and Development by Advanced Simulation and Real Testing

Investigation of industrial robots vs joinery machines for milling pockets in glulam: Comparison based on surface quality and 3D scans

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