Path generation and optimization for DBB measurement with continuous data capture

Rui-qing, Zhou; Kauschinger, Bernd; Ihlenfeldt, Steffen

doi:10.1016/j.measurement.2020.107550

Cited by 12 publications

(8 citation statements)

References 14 publications

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“…In the controller, two local coordinate systems for the DBB measurement are defined; one locating at the nominal position of the middle point of the three-point fixture and one at the nominal position of the middle ball of the measuring paths, which is about 60 mm underneath the steel plate. For the measurement, 3 spherical paths are generated and optimised with a nominal radius of 300 mm for the spatial DBB measurement by applying the path generation approach, as described in [21,22]. The paths are visualized in Figure 13; in order from left to right, they are denoted by p1, p2, p3.…”

Section: Positioning Accuracy and Printing Qualitymentioning

confidence: 99%

SEAMHex - Fast 6D Additive Manufacturing using an innovative Screw Extruder applied on a Hexapod Parallel Kinematic

Ihlenfeldt¹,

Drossel²,

Kausch³

et al. 2022

TLS

Self Cite

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The Screw Extrusion Additive Manufacturing (SEAM) technology provides output rates up to 10 kg/h, a melt pressure up to 350 bar and temperatures up to 400 °C as well as strands with an adjustable bead width between 1-8 mm. Due to a bypass nozzle, position jumps without material extrusion, local wall thickness reduction, and the control of the volume flow (0-100 %) are made possible. Further, the extruder is able to process fiber-reinforced as well as highly filled plastics and integrates a regranulation system to return bypassed material into the process. The hexapod parallel kinematic meets the process requirements, as it generates a rapid movement of the workpiece (up to 1 m/s) in 6 degrees of freedom within a large printing workspace (1100 × 800 x 600 mm3), where an additional Z-axis carries the extruder and realizes the part height. Eccentric joints provide high accuracy and stiffness while being cost-efficient at the same time. The commercial Beckhoff TwinCAT control allows G-code processing and provides an HTML based GUI for machine and extruder control. Consequently, high accuracy is achieved, which is verified by the use of a double-ball-bar measuring device and by producing a test workpiece.

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Section: Positioning Accuracy and Printing Qualitymentioning

confidence: 99%

SEAMHex - Fast 6D Additive Manufacturing using an innovative Screw Extruder applied on a Hexapod Parallel Kinematic

Ihlenfeldt¹,

Drossel²,

Kausch³

et al. 2022

TLS

Self Cite

View full text Add to dashboard Cite

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“…and 𝐣 is a row vector describing the amplification of the perturbations. The relationship could be derived either analytically or numerically by using approaches such as finite difference and algorithmic differentiation [17].…”

Section: Kinematic Measurement Modelmentioning

confidence: 99%

“…Based on a scale of 20 µm, by 50 times interpolation and 4 times evaluation a resolution of 0.1 µm and accuracy of 1 µm is realised [6]. [6,16,17] Next, the measurement of elasto-static errors, as pose deviations due to the compliance of the robot and its components, shall be discussed. In order to evaluate the compliance of the robot and its components, the deviation of the end-effector pose must be measured in load situations.…”

Section: Introductionmentioning

confidence: 99%

Accuracy Assessment of Articulated Industrial Robots using the Extended- and the Loaded-Double-Ball-Bar

Marwitz¹,

Alexander²,

Gonzalez³

et al. 2022

Journal of Machine Engineering

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This research paper outlines the methodology and application of geometric and static accuracy assessment of articulated industrial robots using the Extended Double Ball Bar (EDBB) as well as the Loaded Double Ball Bar (LDBB). In a first experiment, the EDBB is used to assess the geometric accuracy of a Comau NJ-130 robot. Advanced measuring trajectories are investigated that regard poses or axes configurations, which maximize the error influences of individual robot components, and, in this manner, increase the sensitivity for a large number of individual error parameters. The developed error-sensitive trajectories are validated in experimental studies and compared to the circular trajectories according to ISO 203-4. Next, the LDBB is used to assess an ABB IRB6700 manipulator under quasi-static loads of up to 600 Newton using circular testing according to ISO 230-4. The stiffness is identified from the loaded circular trajectories. Then, the stiffness is used to perform a reverse calculation to identify the kinematic errors on the path deviations. The concept is validated in a case study of quasistatic loaded circular testing using the LDBB compared to a Leica AT960 laser tracker (LT).

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“…This enables calibration in the entire working space of the machine without violating the small measuring range of currently available DBB [4]. Such a measuring device with strategies for the fast evaluation of the volumetric motion accuracy of a multi-axis kinematic system has been developed as part of previous research projects [2] [5] [6]. This extended DBB (Figure 2) fulfils the required suitability of a measuring system within the scope of the new approach of calibration as a digital service and can easily be mounted in the machine tool (Figure 3).…”

Section: Extended Dbb As Measuring Devicementioning

confidence: 99%

Digital service application for the recalibration of a machine tool through Augmented Reality-supported data acquisition

Arnold

Lemme

Hess

et al. 2022

IOP Conf. Ser.: Mater. Sci. Eng.

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The effort for checking and correcting the spatial movement accuracy of a processing machine with 5 axes is very high. Calibration and recalibration must be carried out directly on the machine by the machine supplier or a company specializing in this. This is associated with high personnel and long machine downtimes. These constraints can be improved by using modern methods. A consistent approach of an AR-supported measurement procedure for the preparation and execution of a required measurement run and the execution of the calibration itself as a digital service is presented. This enables rapid execution by the machine operator himself using a DoubleBallBar measurement system without the need of the presence of the machine manufacturer. The determination of the calibration parameters on the basis of the measurement data is then carried out by the machine manufacturer and provided as a service. The basis for such a secure and auditable service is a digital service platform. This serves as an intermediary between the user and the machine manufacturer and uses distributed ledger technology. The approach presented is the subject of current development work.

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Path generation and optimization for DBB measurement with continuous data capture

Cited by 12 publications

References 14 publications

SEAMHex - Fast 6D Additive Manufacturing using an innovative Screw Extruder applied on a Hexapod Parallel Kinematic

SEAMHex - Fast 6D Additive Manufacturing using an innovative Screw Extruder applied on a Hexapod Parallel Kinematic

Accuracy Assessment of Articulated Industrial Robots using the Extended- and the Loaded-Double-Ball-Bar

Digital service application for the recalibration of a machine tool through Augmented Reality-supported data acquisition

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