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

Burghardt, Andrzej; Szybicki, Dariusz; Gierlak, Piotr; Kurc, Krzysztof; Muszyńska, Magdalena

doi:10.17559/tv-20190710141137

Cited by 10 publications

(7 citation statements)

References 25 publications

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“…As a maximum limit, for automated test stand tests it was decided to use 3000 rpm-this is maximum speed allowed by available industrial grinders. Data were recorded using the Force Control package [43,46,49,50]. Table 3 presents the observed differences between the initial state and the change in force and torque during the operation.…”

Section: Testsmentioning

confidence: 99%

See 1 more Smart Citation

Automation of the Edge Deburring Process and Analysis of the Impact of Selected Parameters on Forces and Moments Induced during the Process

Falandys,

Kurc,

Burghardt

et al. 2023

Applied Sciences

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The article concerns the possibility of the automation and robotization of the process of deburring jet engine components. The paper presents the construction of a laboratory stand enabling the automation of selected production operations of typical low-pressure turbine blades. The work identifies important parameters and results of the technological process related to the removal of burrs that affect the exactness of the process. The results of the analysis of the impact of individual process parameters on the magnitude of forces and moments occurring during deburring were carried out and presented. The results of initial and detailed tests were presented. Based on the results obtained, it was noticed that doubling the rotational speed of the brush results in a linear increase in torque and an increase in the engagement of the detail in the disc brush, leading to a non-linear increase in torque. It has also been shown that with tool wear, the value of the torque generated by the rotating tool decreases. Based on the results of a comparison of manual and automated process and histogram analysis, results from an automated stand are centered more correctly inside of the required radius range. This means that the repeatability of the process is higher for an automated test stand, which is one of the key aspects of large-scale aviation component manufacturing. Additionally, it was confirmed by visual inspection that all burs had been removed correctly—the deburring operation for all tested work pieces was successful. Based on the results obtained, it was proven that introduction of an automated stand can improve working conditions (by the elimination of the progressive fatigue of employees and the possibility for injury) and allows for the elimination of the negative impact of the machining process on workers. Further areas in which the optimization of the process parameters of the edge deburring can be developed in order to reduce unit costs have also been indicated.

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Section: Testsmentioning

confidence: 99%

“…This approach is also in line with the ideas of Industry 4.0. Thanks to the implementation of industrial robots, the possibility of obtaining significantly greater repeatability and stability of technological process parameters for operations such as locksmithing or welding increases [42][43][44][45].…”

mentioning

confidence: 99%

Automation of the Edge Deburring Process and Analysis of the Impact of Selected Parameters on Forces and Moments Induced during the Process

Falandys,

Kurc,

Burghardt

et al. 2023

Applied Sciences

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show abstract

“…The value of the tool-sample contact force was assumed, and at different values of damping and rate of force buildup, the correctness of realization of the assumed force was measured. The appropriate selection of the parameter is an important element in programming, if the manipulator is to perform cutting operations with high accuracy and in a stable manner (this corresponds to the quality of the machined surface) [25][26][27]. To sum up, the use of the Test Signal Viewer software allows for better use of the Force Control software feature and extends the possibilities of its implementation.…”

Section: Test Signal Viewermentioning

confidence: 99%

TCP Parameters Monitoring of Robotic Stations

et al. 2022

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The impulse for writing the paper is the observation of the works related to the implementation of robotization of processes such as machining, glue application, welding and painting. The abovementioned processes, in addition to the correct implementation of the trajectory, require the definition of various parameters (e.g., speed) in the robot’s software. In the trajectories where the reconfiguration of the robot arms is observed, there are significant errors in the implementation of the defined speed. Robotic technology suppliers, in the event of speed disturbances, manually increase the defined speed value or experimentally select other parameters. It is a cumbersome process, and the lack of information about the process parameters makes it time-consuming and inaccurate. In this paper, one representative process is selected, namely machining performed with various tools by ABB robots. In order for the robotic process to be controlled, it is necessary to compare the defined path with the speed profile. Then, the speed parameters can be controlled and corrected. The approach proposed in the paper allows for improving the quality of implemented robotic processes. It presents the available IT tools for station monitoring and how to use them. The advantages of the proposed solutions and their limitations are shown in the examples of implementation of robotic stations in the industry.

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“…Therefore, research is being conducted to reduce the impact of negative effects occurring during robotic machining processes, among others vibrations. The most common applications of robots in machining processes include grinding, deburring and milling in soft materials [4,5]. Proper planning of these processes requires the knowledge of the dynamic properties of the robot, so as not to excite, for example, its resonant vibrations.…”

Section: Introductionmentioning

confidence: 99%

Influence of the Manipulator Configuration on Vibration Effects

Pietruś,

Gierlak

2023

Acta Mechanica Et Automatica

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Vibration analysis of industrial robots is one of the key issues in the context of robotisation of machining processes. Low-frequency vibrations result from flexibility in manipulator joints. Within the scope of the article, a model of a two-link robot manipulator was built. Dynamic equations of motion were formulated to study the influence of the robot arm configuration on vibration effects. Based on numerical simulations, the frequency spectrum of vibrations of the robot’s links was determined, and tests were carried out in a number of configurations, obtaining a map of resonant frequencies depending on the configuration of the manipulator. Experimental studies were then carried out, which confirmed the conclusions from the simulation studies. The results obtained confirm that the positioning of the manipulator’s links has a significant effect on vibration effects. Tests conducted using a vision system with a motion amplification application made it easier to interpret the results. The formulated mathematical model of the manipulator generates results that coincide with the results of experimental studies.

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

Cited by 10 publications

References 25 publications

Automation of the Edge Deburring Process and Analysis of the Impact of Selected Parameters on Forces and Moments Induced during the Process

Automation of the Edge Deburring Process and Analysis of the Impact of Selected Parameters on Forces and Moments Induced during the Process

TCP Parameters Monitoring of Robotic Stations

Influence of the Manipulator Configuration on Vibration Effects

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