Hybrid model based on energy and experimental methods for parallel hexapod-robotic light abrasive grinding operations

Latifinavid, Masoud; Konukseven, Erhan İlhan

doi:10.1007/s00170-017-0798-8

Cited by 9 publications

(3 citation statements)

References 24 publications

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“…It can also be used in applications that require higher speed combined with precision and higher payload [1][2][3][4]. The examples of using parallel manipulators in high precision modeling and machining are mentioned in [5][6][7]. The kinematic and dynamic analysis of several parallel manipulators has been done in [3,[8][9][10][11][12][13][14][15][16][17][18][19][20][21][22][23][24].…”

Section: Introductionmentioning

confidence: 99%

Kinematic Modelling and Position Control of A 3-DOF Parallel Stabilizing Robot Manipulator

Latifinavid

Azizi

2023

J Intell Robot Syst

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This paper focuses on investigating a parallel camera stabilizing manipulator with three angular degrees of freedom controlled by three linear actuators. An experimental setup is designed and manufactured to actively isolate the host vehicle's disturbing motions. The kinematic analysis of the manipulator combined with a controller is used to disturbance rejection coming from the base platform. Two inertia measurement units (IMU) are used for real-time feedback from the base and up-per platforms' orientation. A Kalman filter is implemented for handling the noises and drifts of the IMUs data. Inverse kinematics of the manipulator is used for calculating the actuating commands and velocity control of the linear motors. The experimental results of the proposed camera stabilizing system are shown. The results indicate its good capability in following the reference input of the controller. Considering the closed kinematic chain of the system and its stiff parallel architecture, this system can be a good choice for the stabilizing system of ground and aerial vehicles.

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Section: Introductionmentioning

confidence: 99%

Kinematic Modelling and Position Control of A 3-DOF Parallel Stabilizing Robot Manipulator

Latifinavid

Azizi

2023

J Intell Robot Syst

Self Cite

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“…The purpose of modeling was to use force models to improve the quality of the process. Often, artificial intelligence methods were used to model the grinding process [25][26][27].…”

Section: Introductionmentioning

confidence: 99%

Robotic Grinding Process of Turboprop Engine Compressor Blades with Active Selection of Contact Force

et al. 2022

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The work presents a robotic system for grinding the blades of a turboprop engine compressor. The proprietary conceptual solution includes a data acquisition system based on a robotic 3D scanner, a neural decision system and a robot performing a grinding process with force control. The contact force of the tool to the blade was assumed as a variable and controlled process parameter. A neural network was used to generate the contact force on the basis of measured machining allowances on the blade. A virtual grid of several dozen regularly spaced points was placed on the surface of the blade. The neural network was learned the allowance-force dependence for the selected points, making it possible to select the proper contact force on the surface to be machined. The developed algorithm for the process of robotic grinding of the blades takes into account the necessity of ongoing quality control of the processing and the introduction of corrections in the process.

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“…Currently there are three main methods to compensate for the clamping and positioning error of tool at the end of robot: kinematic calibration methods [11][12][13], measurement and estimation of positional errors using laser trackers [14][15][16][17], and correction of clamping errors by force control [18][19][20][21]. Although the former two methods improve the positioning accuracy of the tool frame, the positioning error caused by the manufacturing and installation of the tool is not speci cally compensated.…”

Section: Introductionmentioning

confidence: 99%

Estimation And Compensation of Angular Misalignment At Robot End Brush Roller - Workpiece Contact Interface Via Elastic Contact Force Perception

Feng

Chen

et al. 2021

Preprint

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When the non-standard customized brush roller tool is used for robotic grinding of large-scale components, the clamping and positioning error of the brush roller at the end of the robot is extremely easy to cause misalignment at the brush roller - workpiece contact interface, which will affect the machining accuracy and surface quality. In order to ensure the parallel contact between the brush roller and the workpiece surface during the machining process, a calculation model of the angular misalignment at the brush roller - workpiece contact interface is proposed based on the elastic contact force perception, and then the accurate positioning of the robot end brush roller is realized by a fast compensation method. Firstly, according to the geometric force relationship between the brush roller and the workpiece, as well as the determined brush roller material properties parameters, the estimation model of angular misalignment is established. Secondly, both the axial force and normal torque at the time of initial contact detected by the force-controlled sensor are regarded as the input parameters in the model. Further, the calculated brush roller - workpiece contact offset is used as the geometric error compensation amount, and the brush roller is deflected to achieve error compensation by the robot RAPID program control command. The finite element simulation results are compared with the theoretical calculation values, and the average relative error is 15.1%. The experiment on robotic grinding and brushing of high-speed rail body indicates that the compensated angle can be reduced to 0.024° from an average of 0.179° before compensation, coupled with uniform material removal depth. The proposed method can significantly improve the contour accuracy of large-scale components.

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Hybrid model based on energy and experimental methods for parallel hexapod-robotic light abrasive grinding operations

Cited by 9 publications

References 24 publications

Kinematic Modelling and Position Control of A 3-DOF Parallel Stabilizing Robot Manipulator

Kinematic Modelling and Position Control of A 3-DOF Parallel Stabilizing Robot Manipulator

Robotic Grinding Process of Turboprop Engine Compressor Blades with Active Selection of Contact Force

Estimation And Compensation of Angular Misalignment At Robot End Brush Roller - Workpiece Contact Interface Via Elastic Contact Force Perception

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