CCT-based mode coupling chatter avoidance in robotic milling

Cen, Lejun; Melkote, Shreyes N.

doi:10.1016/j.jmapro.2017.06.010

Cited by 69 publications

(21 citation statements)

References 23 publications

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“…For robot machining applications, this means that further experiments with different robots have to prove whether the qualitative dynamic characteristics of all serial six-axis industrial robots are similar to the results of Ref. [34]. Research results also suggest that the robot's joints are the major cause for oscillations when using off the shelf robots for machining.…”

Section: Dynamic Behaviormentioning

confidence: 68%

“…Cen and Melkote [34] presented a stiffness model for the robot milling process based on the conservative congruence transformation (CCT). Their work is based on the recognition that the Cartesian stiffness of the robot is affected by the external force [35].…”

Section: Dynamic Behaviormentioning

confidence: 99%

“…9 schematically illustrates the approach and the dependence of the stability boundary as a function of the cutting parameter (tool feed in this example). The authors demonstrated the suppression of mode coupling chatter in robotic milling experiments conducted on a KUKA KR210 industrial robot [34].…”

Section: Dynamic Behaviormentioning

confidence: 99%

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Robots in machining

et al. 2019

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Robotic machining centers offer diverse advantages: large operation reach with large reorientation capability, and a low cost, to name a few. Many challenges have slowed down the adoption or sometimes inhibited the use of robots for machining tasks. This paper deals with the current usage and status of robots in machining, as well as the necessary modelling and identification for enabling optimization, process planning and process control. Recent research addressing deburring, milling, incremental forming, polishing or thin wall machining is presented. We discuss various processes in which robots need to deal with significant process forces while fulfilling their machining task.

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Section: Dynamic Behaviormentioning

confidence: 68%

Section: Dynamic Behaviormentioning

confidence: 99%

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Robots in machining

et al. 2019

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“…The static force/torque-deformation experiments and identification are wildly used to obtain the joint stiffness of industrial robots, [26][27][28] which can be described briefly as follows. During the static experiments, the determined force/torque is applied to the robot links or end effector.…”

Section: Identification Of the Motion-independent Parametersmentioning

confidence: 99%

A dynamic parameter identification method of industrial robots considering joint elasticity

Zhang

et al. 2019

International Journal of Advanced Robotic Systems

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Considering the joint elasticity, a novel dynamic parameter identification method is proposed for general industrial robots only with motor encoders. Firstly, the unknown parameters of the elastic joint dynamic model are analyzed and divided into two types. The first type is the motion-independent parameter only including the joint stiffness, which can be identified by the static force/torque-deformation experiments without the dynamic model. The second type is the motiondependent parameter composed of the rest of the parameters, which needs the dynamic excitation experiments. Therefore, these two types of parameters can be identified separately. Meanwhile, it is found that the rotor inertia parameters can be obtained from the manufacturer, which reduces the identification difficulty of other parameters. After obtaining the rotor inertia and joint stiffness, an approximate processing algorithm is proposed considering the motor friction to establish the linear identification model of other parameters. Hence, the least squares can be employed to identify the parameters, and the independence of the inertia and joint viscous friction parameters are not affected. Meanwhile, the exciting trajectories can be optimized throughout the robot workspace, which reduces the effect of measurement noise on identification accuracy. With the proposed separated identification strategy and approximate processing algorithm, the dynamic parameters can be obtained precisely without double encoders on each joint. Finally, a series of simulations are conducted to evaluate the good performance of the proposed method.

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“…Bir test koşulu için oluşturulmuş dinamik etki büyüklükleri Şekil 15'te gösterilmiştir. CCT yönteminin uygulandığı bir diğer çalışmada[56] kesici takım eksen doğrultusunda gelen kuvvet dikkate alınarak yeni bir matematiksel model geliştirilmiştir böylece takım doğrultusu ve iş parçasının yönlendirilmesine gerek kalmadan tırlamayı önemli ölçüde azalttıklarını belirtmişlerdir. CCT yöntemi uygulanarak bir deney koşulu için elde edilen dinamik etki büyüklükleri[55].…”

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Roboti̇k İşleme Yöntemi̇ Üzeri̇ne Bi̇r Derleme

Demirtaş¹

2020

Ömer Halisdemir Üniversitesi Mühendislik Bilimleri Dergisi

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Robotik işleme yönteminde kullanılan robotlar hareket tiplerine göre seri ve paralel kinematik tip olmak üzere iki başlıkta incelenebilir. Bu çalışmada robotik işleme yönteminin geliştirilerek verimliliğinin arttırılması için literatürde yapılmış olan çalışmalar özetlenmiştir. Paralel kinematik robotlarda düşük çalışma alanına sahip olmasından dolayı işlemin yerinde yapılması ve konumlandırma (kalibrasyonun) hassas bir şekilde için geliştirilen bazı yöntemler bu derlemede sunulmuştur. Seri kinematik robotlarda ise düşük dayanımlarından dolayı tırlama problemi ön plana çıkmakta olup tırlamanın engellenmesi üzerine yapılan çalışmalar yine bu derlemede sunulmaktadır. Robotik işleme uygulamalarında seri kinematik robotların inceleme sahasının paralel kinematik robotlara göre daha geniş olduğu gözlemlenmiştir. Hexapod tip robotların paralel kinematik robotlar içinde en çok kullanılan robot tipi olduğu gözlemlenmiştir. Bununla birlikte tırlamaların önlenmesi için temassız işleme yöntemlerinin robot kollara adaptasyonu son yıllarda uygulanmaya başlanmıştır.

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CCT-based mode coupling chatter avoidance in robotic milling

Cited by 69 publications

References 23 publications

Robots in machining

Robots in machining

A dynamic parameter identification method of industrial robots considering joint elasticity

Roboti̇k İşleme Yöntemi̇ Üzeri̇ne Bi̇r Derleme

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