Model-based planning of machining operations for Industrial Robots

F. Schnoes; M. F. Zaeh

doi:10.1016/j.procir.2019.04.331

Model-based planning of machining operations for Industrial Robots

F. Schnoes, M. F. Zaeh

Chair of Machine Tools and Manufacturing Technology

Technical University of Munich

Research output: Contribution to journal › Conference article › peer-review

30 Scopus citations

Abstract

The static and dynamic mechanical properties of standard industrial robots differ strongly from common CNC-machines. For robot-based machining operations, these properties have to be considered. In this paper, a method for the optimal placement of the workpiece within the workspace, the design of the machining process and the compensation of toolpath deviations during the machining process of metallic workpieces is presented. The method is based on a coupled machine-process-model and the derivation of performance, accuracy and reliability indicators. The method was validated by the machining of aluminum workpieces and the evaluation of the accuracy improvement due to the multi-axis compensation mechanism.

Original language	English
Pages (from-to)	497-502
Number of pages	6
Journal	Procedia CIRP
Volume	82
DOIs	https://doi.org/10.1016/j.procir.2019.04.331
State	Published - 2019
Event	17th CIRP Conference on Modelling of Machining Operations, CIRP CMMO - Sheffield, United Kingdom Duration: 13 Jun 2019 → 14 Jun 2019

Keywords

Machining Strategy
Process Force
Process Planning
Robot Machining
Simulation
Volumetric Modeling

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10.1016/j.procir.2019.04.331

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title = "Model-based planning of machining operations for Industrial Robots",

abstract = "The static and dynamic mechanical properties of standard industrial robots differ strongly from common CNC-machines. For robot-based machining operations, these properties have to be considered. In this paper, a method for the optimal placement of the workpiece within the workspace, the design of the machining process and the compensation of toolpath deviations during the machining process of metallic workpieces is presented. The method is based on a coupled machine-process-model and the derivation of performance, accuracy and reliability indicators. The method was validated by the machining of aluminum workpieces and the evaluation of the accuracy improvement due to the multi-axis compensation mechanism.",

keywords = "Machining Strategy, Process Force, Process Planning, Robot Machining, Simulation, Volumetric Modeling",

author = "F. Schnoes and Zaeh, {M. F.}",

note = "Publisher Copyright: {\textcopyright} 2019 The Authors. Published by Elsevier B.V. Peer-review under responsibility of the scientific committee of The 17th CIRP Conference on Modelling of Machining Operations; 17th CIRP Conference on Modelling of Machining Operations, CIRP CMMO ; Conference date: 13-06-2019 Through 14-06-2019",

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doi = "10.1016/j.procir.2019.04.331",

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T1 - Model-based planning of machining operations for Industrial Robots

AU - Schnoes, F.

AU - Zaeh, M. F.

PY - 2019

Y1 - 2019

N2 - The static and dynamic mechanical properties of standard industrial robots differ strongly from common CNC-machines. For robot-based machining operations, these properties have to be considered. In this paper, a method for the optimal placement of the workpiece within the workspace, the design of the machining process and the compensation of toolpath deviations during the machining process of metallic workpieces is presented. The method is based on a coupled machine-process-model and the derivation of performance, accuracy and reliability indicators. The method was validated by the machining of aluminum workpieces and the evaluation of the accuracy improvement due to the multi-axis compensation mechanism.

AB - The static and dynamic mechanical properties of standard industrial robots differ strongly from common CNC-machines. For robot-based machining operations, these properties have to be considered. In this paper, a method for the optimal placement of the workpiece within the workspace, the design of the machining process and the compensation of toolpath deviations during the machining process of metallic workpieces is presented. The method is based on a coupled machine-process-model and the derivation of performance, accuracy and reliability indicators. The method was validated by the machining of aluminum workpieces and the evaluation of the accuracy improvement due to the multi-axis compensation mechanism.

KW - Machining Strategy

KW - Process Force

KW - Process Planning

KW - Robot Machining

KW - Simulation

KW - Volumetric Modeling

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DO - 10.1016/j.procir.2019.04.331

M3 - Conference article

AN - SCOPUS:85070463480

SN - 2212-8271

VL - 82

SP - 497

EP - 502

JO - Procedia CIRP

JF - Procedia CIRP

T2 - 17th CIRP Conference on Modelling of Machining Operations, CIRP CMMO

Y2 - 13 June 2019 through 14 June 2019

ER -

Model-based planning of machining operations for Industrial Robots

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Keywords

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