Advertisement

Machining Accuracy Improving with the Use of Mobile Mechatronic Systems as Industrial Robot End Effectors

  • E. I. ShchurovaEmail author
  • P. G. Mazein
Conference paper
Part of the Lecture Notes in Mechanical Engineering book series (LNME)

Abstract

Industrial robots are widely used for machining due to technological flexibility, relatively small sizes, and a reasonably large working space. Tool spindles that drive rotary cutting tools are often used as robot end effectors. In this case, feed motion is carried out by moving of robot operating mechanism. However, robot relatively low rigidity compared with metal-cutting machine rigidity causes more significant errors of the motion path of the end effector in machining process. For this reason, accuracy improving on large-sized workpiece machining with the use of robots is the issue of the day. This chapter concentrates on the use of a compact mechatronic system, which is applied as a robot end effector and is attached to the workpiece by means of electromagnets. The positioning of the fixed mechatronic mechanism (MM) in the workpiece coordinate system is checked using laser instrumentation system. After machining of the workpiece in the specified area, the mechatronic system is reinstalled in a new area. A preliminary rigidity estimation of the mechatronic device to achieve the required machining accuracy has been done. It has been detected that cutting tool is the least rigid element of mechatronic mechanism.

Keywords

Machining Industrial robot Mechatronic system Mobile system Machining accuracy Attachment rigidity 

References

  1. 1.
    Aliev R, Guseynov R (2011) Milling robots—technical state view. Autom Mod Technol 11:11–18Google Scholar
  2. 2.
    ISO 8373:2012. Robot and robotic DEVICES. Vocabulary, 48 pGoogle Scholar
  3. 3.
    Robotic machining (2015) Stäubli International AG, 7 pGoogle Scholar
  4. 4.
    Moler D-IC, Schmidt HS, Koch P (2017) Machining of large scaled CFRP-parts with mobile CNC-based robotic system in aerospace industry. Procedia Manuf 14:17–19CrossRefGoogle Scholar
  5. 5.
    Driven tools (2018) Motorizzati. Gerardi tooling, 48 pGoogle Scholar
  6. 6.
    The world of ZX (2015) Cogsdill, 12 pGoogle Scholar
  7. 7.
    Metal Cutting Solutions (2013) Nickunj Eximp Entp P Ltd, 52 pGoogle Scholar
  8. 8.
    Allied criterion boring system. Catalog (2014) Allied Machine & Engineering Cor, 72 pGoogle Scholar
  9. 9.
    Precision boring systems (2011) Criterion Catalog no. 23, 85 pGoogle Scholar
  10. 10.
    Contouring head system (2012) ZX TM Cogsdill, 5 pGoogle Scholar
  11. 11.
    Sirinterlikci A, Tiryakioglu M, Bird A, Harris A, Kweder K (2009) Repeatability and accuracy of an industrial robot: laboratory experience for a design of experiments course. Technol Interface J 9(2):1–10Google Scholar
  12. 12.
    Zhang T, Du L, Dai X (2014) Test of robot distance error and compensation of kinematic full parameters. Adv Mech Eng, 1–9Google Scholar
  13. 13.
    Zhang D, Wei B (2017) Adaptive control for robotic manipulators. Taylor & Francis Group, 441 pGoogle Scholar
  14. 14.
    Kuka KR 3 R540. Technical data. 0000-270-971/V16.3/05.09.2018/enGoogle Scholar
  15. 15.
    Semyonov EN, Sidorova AV, Pashkov AE, Belomestnykh AS (2016) Accuracy assessment of Kuka KR210 R2700 extra industrial robot. Int J Eng Technol 16(01):19–25Google Scholar
  16. 16.
    Barnfather JD, Goodfellow MJ, Abram T (2017) Positional capability of a hexapod robot for machining applications. Int J Adv Manuf Technol 89:1103–1111CrossRefGoogle Scholar
  17. 17.
    Barnfather JD, Goodfellow MJ, Abram T (2018) Achievable tolerances in robotic feature machining operations using a low-cost hexapod. Int J Adv Manuf Technol 95:1421–1436CrossRefGoogle Scholar
  18. 18.
    Zhang J, Cai J (2013) Error analysis and compensation method of 6-axis industrial robot. Int J Smart Sens Intell Syst 6(4):1383–1399MathSciNetGoogle Scholar
  19. 19.
    Pan Z, Zhang H (2009) Improving robotic machining accuracy by real-time compensation. In: ICCAS-SICE International joint conference, IEEE, USA, pp 4289–4294Google Scholar
  20. 20.
    Morozov M, Riise J, Summan R, Pierce SG, Mineo C, MacLeod CN, Brown RH (2016) Assessing the accuracy of industrial robots through metrology for the enhancement of automated non-destructive testing. In: IEEE International conference on multisensor fusion and integration for intelligent systems (MFI), pp 1–6Google Scholar
  21. 21.
    5-Axis machining alternatives (2016) Tri-Tech Precision Products, Inc, 2 pGoogle Scholar
  22. 22.
    HXP Hexapods. 6-Axis-parallel kinematic positioning systems (2018) Newport BR-041601-EN (22/05/18), 20 pGoogle Scholar
  23. 23.
    FARO Laser tracker accessories manual (2017) FARO Technologies Inc, 134 pGoogle Scholar
  24. 24.
    Matveev VV (1978) Narezanie tochnich rezb (Cutting of precision threads) Moscow. Mashinostroenie, 88 pGoogle Scholar
  25. 25.
    Shchurov IA (2004) Teoriya rascheta tochnosti obrabotki i parametrov instrumentov na osnove diskretnogo tverdotel’nogo modelirovaniya (The theory of precision machinery and tools parameters calculation on the base of discrete solid modelling). SUSU, Chelyabinsk, 320 p. http://lib.susu.ru/ftd?base=SUSU_METHOD&key=000436340&dtype=F&etype=.pdf
  26. 26.
    NMV 5000 DCG High-precision, 5-axis control vertical machining center (2007) MoriSeiki V.0709.CDT.0000, 50 pGoogle Scholar
  27. 27.
    Magnet grippers (2012) Goudsmit Magnetics, 4 pGoogle Scholar
  28. 28.
    Magvacu Combi Grippers—47 N. HGC-RO-040-VR-R-M-F (2018) Goudsmit Magnetics, 1 pGoogle Scholar
  29. 29.
    Magvacu® Combi Grippers—395 N. HGC-RO-100-VR-M-G-F (2018) Goudsmit Magnetics, 1 pGoogle Scholar
  30. 30.
    Air-oil booster. Pneumatic equipment (2004) Taiyo Cat. No. A00421. High power system 1 1(R):36Google Scholar

Copyright information

© Springer Nature Switzerland AG 2020

Authors and Affiliations

  1. 1.South Ural State UniversityChelyabinskRussia

Personalised recommendations