On-line manipulator tool condition monitoring based on vibration analysis

Gierlak, Piotr; Burghardt, Andrzej; Szybicki, Dariusz; Szuster, Marcin; Muszyńska, Magdalena

doi:10.1016/j.ymssp.2016.08.002

Cited by 44 publications

(24 citation statements)

References 15 publications

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“…Moreover, the robotic machining test stand featured a 3D scanner with a software for workpiece inspection. This test stand and the machining operations carried out with it had already been published [26]. The nature of machining conducted on the test stand exposes its tooling to various types of damage.…”

Section: Robotic Machining Test Standmentioning

confidence: 99%

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Automatic Detection of Industrial Robot Tool Damage Based on Force Measurement

et al. 2020

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This paper proposes a solution for diagnosing the condition of the tools applied in metal alloy robotic machining. Determination of the condition of a cutting tool requires specific methods that depend on the damage type or the wear level. Methods that involved measurements of basic geometric dimensions of cutting tools based on force sensor, and testing the forces of inertia caused by tool unbalance were applied in the work covered herein. Damage of cutting tool, including unbalance, fracture or complete tool wear were detected with a system of force measurement, which was part of the standard equipment of the robot in a process used to investigate the methods covered herein. All methods proposed herein were performed automatically and require no human intervention. This paper presents examples of solutions for determining the condition of a grinding pin, which is a common machining tool.

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Section: Robotic Machining Test Standmentioning

confidence: 99%

“…The tests and conclusions shown in [26,27] suggested an application of the available force sensor and software functionalities to detect tool damage and monitor the wear of tool.…”

Section: Robotic Machining Test Standmentioning

confidence: 99%

Automatic Detection of Industrial Robot Tool Damage Based on Force Measurement

et al. 2020

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“…Algorithms controlling force and their utilisation in processes are found in Refs [3][4][5][6]. Technological parameters' super vision and communication between many robots have been described in Refs [7][8][9]. Numerous authors use various communication protocols in their works, Profibus [10][11][12] and TCP/IP [13][14][15][16][17].…”

Section: Introductionmentioning

confidence: 99%

Robotic machining in correlation with a 3D scanner

Kurc

Burghardt

Szybicki

et al. 2020

Mechanics and Mechanical Engineering

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The article presents an original method of communication and data exchange in a robotic machining station consisting of two robots, a positioner and a 3D optic scanner. The task of one of the robots, equipped with a 3D optic scanner, was to receive point cloud of a detail (mould) attached to the positioner table. After detail digitalisation, the received point cloud was adjusted to (compared with) a model detail in the form of a CAD file in the Atos Professional software. In the software, casting material excesses were received in places selected on the detail. Values of the excesses and their coordinates were saved in the script and sent to the robot controller using TCP/IP protocol. The other of robots, equipped with the force control addition and the option of obtaining various processing tools, received sent excess and its coordinates. The other robot adjusted the processing parameters to random excesses, the value of which was received from measurements of the optic scanner of the first robot.

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“…Also, the methodology of tri-axis video camera vibration measurement with result assessment and image stabilization was presented. Dynamical system vibration reduction has been the subject of many research projects [14][15][16].…”

Section: Introductionmentioning

confidence: 99%

Mobile crawler robot vibration analysis in the contexts of motion speed selection

Gierlak¹,

Kurc²,

Szybicki³

2017

J. vibroeng.

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The article presents the methodology of body vibration analysis of an inspection robot with the use of flexible connection between the body and the track propulsion modules. The article presents the methodology of selection of motion parameters of an inspection robot, taking into account the vibration of the robot body. The speed of movement of the robot affects the frequency of contact track claws with the ground, which is related to the frequency of vibration excitation. Robot motion parameters are chosen in such a way so as not to over-stimulate the natural frequency of the system. Due to the vibration reduction, it was possible to install a visual system based on an Ethernet video camera without a stabilizer in the body of the robot. Such an approach enables mass production of robots without active suppression systems and video stabilizers which generate high production costs, increase weight of robots and energy consumption.

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On-line manipulator tool condition monitoring based on vibration analysis

Cited by 44 publications

References 15 publications

Automatic Detection of Industrial Robot Tool Damage Based on Force Measurement

Automatic Detection of Industrial Robot Tool Damage Based on Force Measurement

Robotic machining in correlation with a 3D scanner

Mobile crawler robot vibration analysis in the contexts of motion speed selection

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