Estimating cutting force from rotating and stationary feed motor currents on a milling machine

Jeong, Young‐Hun; Cho, Dong‐Woo

doi:10.1016/s0890-6955(02)00082-2

Cited by 107 publications

(55 citation statements)

References 7 publications

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“…The bandwidth of the spindle drive was between 2 and 18 Hz, and for the feed drive it was approximately 80 Hz. Prickett and Johns [21] noted that the bandwidth of feed drives used in milling was typically under 100 Hz, although Jeong and Cho [22] reported in their experimental trials a current sensor bandwidth of 130 Hz. The dynamic characteristics of the current feedback control loop of the feed drive system determine the bandwidth of the current sensing system for indirect cutting force measurements [17,23,24].…”

Section: Power Monitoring Signal Featuresmentioning

confidence: 99%

Advanced monitoring of machining operations

et al. 2010

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Section: Power Monitoring Signal Featuresmentioning

confidence: 99%

Advanced monitoring of machining operations

et al. 2010

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“…Consequently, alternative methods for measuring forces were developed. One of the most used method involves indirect measurements, by measuring the currents within feed and/or spindle motors using current sensors [1,2]. Other approaches are based upon the development of special milling sensors [3,4], systems with optical data transmission [5] or upon strain gauges [6].…”

Section: Introductionmentioning

confidence: 99%

Using the modern CNC controllers capabilities for estimating the machining forces during the milling process

Breaz

Racz

2017

MATEC Web Conf.

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Abstract. Machining forces can nowadays be measured by using 3D dynamometers, which are usually very expensive devices and hardly available for most of the CNC machine-tools users. On the other hand, modern CNC controllers have nowadays the ability to display and save many outputs within the machining process, such as the currents or even the torques at the shaft's level for the feed motors on each axis. These outputs can be used for estimating the machining forces, but it is to be noticed that the above-mentioned currents and torques are proportional with the overall resistant forces, which includes not only technological forces, but also friction, inertial and pre-tensioning forces. This paper presents an approach for estimating the machining forces during a milling process, by using the outputs stored in the CNC controller and separating the effects of technological forces from the other forces involved in the process. The separation was made by running two sets of experiments, one set for dry-run regime and the other one for machining regime.

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“…Jeong and Li had used a similar method to estimate the cutting forces on a milling machine and on a computer numerically controller (CNC) turning center [15,16]. Tholey et al had done related work by estimating force on a surgical grasper with supplied motor voltage [17], but the accuracy of this approach was not acceptable.…”

Section: Introductionmentioning

confidence: 99%

Estimating Tool–Tissue Forces Using a 3-Degree-of-Freedom Robotic Surgical Tool

Zhao

Nelson

2016

Journal of Mechanisms and Robotics

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Robot-assisted minimally invasive surgery (MIS) has gained popularity due to its high dexterity and reduced invasiveness to the patient; however, due to the loss of direct touch of the surgical site, surgeons may be prone to exert larger forces and cause tissue damage. To quantify tool-tissue interaction forces, researchers have tried to attach different kinds of sensors on the surgical tools. This sensor attachment generally makes the tools bulky and/or unduly expensive and may hinder the normal function of the tools; it is also unlikely that these sensors can survive harsh sterilization processes. This paper investigates an alternative method by estimating tool-tissue interaction forces using driving motors' current, and validates this sensorless force estimation method on a 3-degree-offreedom (DOF) robotic surgical grasper prototype. The results show that the performance of this method is acceptable with regard to latency and accuracy. With this tool-tissue interaction force estimation method, it is possible to implement force feedback on existing robotic surgical systems without any sensors. This may allow a haptic surgical robot which is compatible with existing sterilization methods and surgical procedures, so that the surgeon can obtain tool-tissue interaction forces in real time, thereby increasing surgical efficiency and safety.

show abstract

Estimating cutting force from rotating and stationary feed motor currents on a milling machine

Cited by 107 publications

References 7 publications

Advanced monitoring of machining operations

Advanced monitoring of machining operations

Using the modern CNC controllers capabilities for estimating the machining forces during the milling process

Estimating Tool–Tissue Forces Using a 3-Degree-of-Freedom Robotic Surgical Tool

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