Machining of large scaled CFRP-Parts with mobile CNC-based robotic system in aerospace industry

Möller, Christian; Schmidt, Hans C.; Koch, Philip; Böhlmann, Christian; Kothe, Simon; Wollnack, Jörg; Hintze, Wolfgang

doi:10.1016/j.promfg.2017.11.003

Cited by 73 publications

(24 citation statements)

References 5 publications

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“…Möller C. et al [37], used secondary encoders to improve the quality of machining in the aerospace industry. The use of secondary encoders and an adaptive control allowed improvements of the effective stiffness and repeatability of machining operations.…”

Section: Devices and Methodologiesmentioning

confidence: 99%

A Study on Robot Arm Machining: Advance and Future Challenges

Pérez¹,

Rubert²,

Zotovic³

2018

Proceedings of the 29th International DAAAM Symposium 2018

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Nowadays, it is not uncommon to find news and research about robotic machining applications, as milling and drilling. The flexibility, programmability and low price of robots, conversely to CNC machines, makes robotic machining an interesting opportunity for manufacturing of large parts. In this paper, the authors show the current advances on developments of robotic machining and a theoretical framework of the process, evidencing its weaknesses and strengths. Since the low stiffness of robots is their main disadvantage, the target of researchers is to improve this characteristic, and therefore avoid adverse effects like vibration, which influences the machining accuracy. The last developments can be categorized according to their research field: modelling and control of the process, robot workspace optimization, redundancy analysis, vibrating/chatter analysis and new designs and methodologies for the improvement of machining. These researches increase the efficiency and accuracy of the process with the goal to convert robots in a real alternative to CNC machines. In fact, the authors are working on the aim of proposing a characterization of several machining operations with robots, considering a force/torque control that provide the system a feedback with the improved stiffness matrix to correct errors and improve the accuracy during machining.

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Section: Devices and Methodologiesmentioning

confidence: 99%

A Study on Robot Arm Machining: Advance and Future Challenges

Pérez¹,

Rubert²,

Zotovic³

2018

Proceedings of the 29th International DAAAM Symposium 2018

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“…Fig. 35(a) shows an application of milling a carbon fiber reinforced thermoplastic structure from the aerospace sector [121], whereas Fig. 35(b) presents polishing of a mold for a sailing boat [122].…”

Section: Dedicated Programming Possibilitiesmentioning

confidence: 99%

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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“…To further increase the workspace of the robots, mobile robotic machining systems are proposed by combining a robot arm with a mobile platform. 5–7 As the mobile platform can move to the arbitrary work station, the mobile robotic machining system has a large workspace and ability to machine large-scale workpieces, such as coaches of high-speed trains, wind turbine blades, and aeronautical structures.…”

Section: Introductionmentioning

confidence: 99%

Kinematic modeling and control of mobile robot for large-scale workpiece machining

Tao

Zhao

Yan

et al. 2020

Proceedings of the Institution of Mechanical Engineers, Part B:

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Safety and reliability are significant in the sense of robotic machining for large-scale workpieces. In this article, a control scheme is proposed to ensure the safe motion of the mobile robot. Screw theory is used to analyze the motion of the mobile robot. The mobile platform with Mecanum wheels can be considered as a mechanism with four driven screws in series. An auxiliary reference position of the mobile platform is calculated based on the kinematic model, and the motion of the mobile platform and robot arm can be decoupled to handle its redundant degrees of freedom. Constant speed control is investigated to reduce the interaction force between the robot and platform. Experiments are conducted on the mobile robotic machining task for a large-scale wind turbine blade. The mobile robot moves steadily and smoothly owing to the constant speed control with an auxiliary target.

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Machining of large scaled CFRP-Parts with mobile CNC-based robotic system in aerospace industry

Cited by 73 publications

References 5 publications

A Study on Robot Arm Machining: Advance and Future Challenges

A Study on Robot Arm Machining: Advance and Future Challenges

Robots in machining

Kinematic modeling and control of mobile robot for large-scale workpiece machining

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