Skip to main content

Advertisement

SpringerLink
Log in

Pose estimation and machining efficiency of an endoscopic grinding tool

  • ORIGINAL ARTICLE
  • Published:
The International Journal of Advanced Manufacturing Technology Aims and scope Submit manuscript

Abstract

In this research, a method was developed for estimating the amount of material removed in an endoscopic grinding process. A model was formulated for the estimation of the pose (position and orientation) and force on a modified PENTAX ES-3801 endoscope, based on geometric analysis of the endoscope bending section and input from an LVDT position sensor and load cell placed in line with the driving cable of the endoscope. The experimental and theoretical results showed that the pose and force of the flexible bending section can be predicted and monitored when subjected to varying machining loads. In most conditions, the estimated force, position, and orientation error were less than 0.5 N, 2.0 mm, and 3.0°, respectively. For estimation of material removal in grinding, the effective energy spent on removing material, energy wasted by chatter, and energy wasted by the transmission shaft had to be calculated. Grinding experiments were carried out on aluminum workpiece, and the amount of material removal was estimated and measured for comparison. The results suggested that it is possible to estimate the amount of material removed by a non-rigid machine tool with the method described.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. Silvia S (2004) Turbine engine fan disk crack detection test. Weapons Survivability Laboratory Final Report DOT/FAA/AR-04/28, September 2004

  2. Markou C, Cros G, Cioranu A, and Yang E (2011) Airline Maintenance Cost Executive Commentary. Maintenance Cost Task Force. http://www.iata.org/whatwedo/workgroups/Documents/MCTF/AMC_ExecComment_FY09.pdf. Accessed 22 Jan 2013

  3. Carter TJ (2005) Common failures in gas turbine blades. Eng Fail Ana 12(2):237–247

    Article  Google Scholar 

  4. Moeller D, Moeller HD, Moeller DB (2005) Grinding apparatus for blending defects on turbine blades and associated method of use. US Patent 6:899,593

    Google Scholar 

  5. Ikuta K, Hasegawa T, and Daifu S (2003) Hyper redundant miniature manipulator “hyper finger” for remote minimally invasive surgery in deep area. Proc IEEE Int Conf Rob & Aut, Taipei, Taiwan, September 2003, 1:1098–1102

  6. Hirose S, Chu R (1999) Development of a light weight torque limiting m-drive actuator for hyper redundant manipulator float arm. Proc IEEE Int Conf Rob & Aut 2831–2836

  7. Hirose S, Fukushima E (2004) Snakes and strings: new robotic components for rescue operations. Int J Rob Res 23(4–5):341–349

    Article  Google Scholar 

  8. Degani A, Choset H, Wolf A, Zenati M (2006) Highly articulated robotic probe for minimally invasive surgery. Proc IEEE Int Conf on Rob & Aut 4167–4172

  9. Mosse CA, Mills TN, Bell GD, Swain CP (1998) Device for measuring the forces exerted on the shaft of an endoscope during colonoscopy. Med & Bio Eng & Comp 36:186–190

    Article  Google Scholar 

  10. Munnae J, McMurray G, Lipkin H (2010) Static and kinematic analysis of a planar cable-driven flexible endoscope. Proc ASME Int Des Eng Tech & Comp Info in Eng Conf 7:65–74, DETC2009 (PART A)

    Google Scholar 

  11. Raibert MH, Craig JJ (1981) Hybrid position/force control of manipulators. J Dyn Syst Meas & Cont, Trans of ASME 103(2):126–133

    Article  Google Scholar 

  12. Akbari AA, Higuchi S (2002) Autonomous tool adjustment in robotic grinding. J Mater Process Tech 127(2):274–279

    Article  Google Scholar 

  13. Matsuoka S, Shimizu K, Yamazaki N, Oki Y (1999) High speed end milling of an articulated robot and its characteristics. J Mater Process Tech 95(1–3):83–89

    Article  Google Scholar 

  14. Yu M, Zhao J, Zhang L, Wang Y (2004) Study on the dynamic characteristics of a virtual-axis hybrid polishing machine tool by flexible multibody dynamics. Proc Inst Mech Eng, Part B: J Eng Manuf 218(9):1067–1076

    Article  Google Scholar 

  15. Plosa J, Wojciech S (2000) Dynamics of systems with changing configuration and with flexible beam-like links. Mechan & Mach Theor 35(11):1515–1534

    Article  MathSciNet  Google Scholar 

  16. Zhang H, Wang J, Zhang G, Zhongxue G (2005) Machining with flexible manipulator: toward improving robotic machining performance. IEEE/ASME Int Conf on Adv Int Mech, AIM 2:1127–1132

    Google Scholar 

  17. Lipkin H, Munnae J (2007) Endoscope geometrical analysis and kinematic control. Proc ASME Int Des Eng Tech Conf & Comp & Inf in Eng Conf 8:231–238

    Google Scholar 

  18. Steger C, Ulrich M., and Wiedemann C (2008) Machine Vision algorithms and applications 1st ed. Wiley, Darmstadt

  19. Shapiro LG and Stockman GC (2001) Computer vision. Prentice Hall, Upper Saddle River

  20. Song Y, Liang W, and Yang Y (2011) A method for grinding removal control of a robot belt grinding system. J Int Manuf 1–11 doi: 10.1007/s10845-011-0508-6

  21. Zhang H and Pan Z (2011) Robotic machining: material removal rate control with a flexible manipulator. IEEE International Conference on Robotics, Automation and Mechatronics, RAM, September 2008 4690881:30–35

  22. Marinescu ID, Rowe WB, Dimitrov B, Inaski I (2004) Tribology of abrasive machining process, 1st ed. William Andrew Inc, Norwich

    Google Scholar 

  23. Kannappan S, Malkin S (1972) Effects of grain size and operating parameters on the mechanics of grinding. J Eng Ind Trans ASME 94(3):833–842

    Article  Google Scholar 

  24. Pan Z, Zhang H, Zhu Z, Wang J (2006) Chatter analysis of robotic machining process. J Mater Process Tech 173(3):301–309

    Article  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Department of Mechanical Engineering, University of Hawaii at Manoa, Honolulu, HI, 96822, USA

    Yang Lei & Scott F. Miller

Authors
  1. Yang Lei
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Scott F. Miller
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Yang Lei.

Rights and permissions

Reprints and permissions

About this article

Cite this article

Lei, Y., Miller, S.F. Pose estimation and machining efficiency of an endoscopic grinding tool. Int J Adv Manuf Technol 69, 2019–2029 (2013). https://doi.org/10.1007/s00170-013-5173-9

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s00170-013-5173-9

Keywords

Search

Navigation