Analysis of robotic machining operations using a radially compliant end-effector
Journal Title: Proceedings in Manufacturing Systems - Year 2018, Vol 13, Issue 2
Abstract
This paper presents a comparative analysis conducted by the authors in the field of robotic machining. The scope of the analysis was to compare light machining operations performed on various materials using an articulated-arm industrial robot equipped with a radially compliant end-effector. Thus, the experimental procedures were conducted on aluminium, wood and plastic. The approached machining operations were milling, chamfering and surface finishing. The goal of the research was to determine the values of the machining forces and to evaluate the influence of the end-effector compliance on machining results. The approach chosen for the experimental procedures was having the workpiece clamped on a dynamometer by using modular fixturing components. The equipment used for experimental purposes consisted of a six DOF articulated arm Kawasaki FS10E industrial robot with 10 kg. payload and a Kistler 9257B dynamometer for measuring the machining forces on three orthogonal directions corresponding to X, Y and Z axes of the part coordinate system. The robot was equipped with an ATI RC-340 radially compliant deburring tool. The robot programming method used during the experimental procedure was point to point block teaching using the teach pendant. The results were observed both visually and through the results shown by the Kistler dynamometer interface.
Authors and Affiliations
Andrei Mario Ivan, Radu Constantin PARPALĂ, Cezara Coman
Keywords
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