Memorias de investigación
Research Publications in journals:
Robot-process precision modelling for the improvement of productivity in flexible manufacturing cells Q1
Year:2019
Research Areas
  • Mechanical engineering,
  • Machine tools,
  • Robotics,
  • Robot simulation
Information
Abstract
Industrial robots are traditionally used at machining cells for machine feeding and workpiece handling. A reassignment of tasks to improve the productivity requires a modelling of the robot behaviour from the point of view of its position precision. This paper characterizes and predicts the precision achievable when drilling with an industrial robot in order to use it in machining operations. Robot behaviour and drilling phenomena are analysed to determine working accuracy and their contribution in position deviation and uncertainty. An efficient model for drilling is developed, applying quaternions and considering the influence of all cutting tool angles, providing a very precise estimation of drilling torques and forces. An innovative model for the robot is developed based on multibody systems, using mixed natural coordinates that enhance the computing and deliver outputs with direct interpretation. Besides, the effect of stiffness is added in joints as additional element. The complete robot-process model shows the significative process influence in working precision against robot influence. This influence is responsible of up to 40% of the total uncertainty. The model and the tests performed show that the deviations and their uncertainties depend strongly on drilling forces and the robot configuration. In the other hand, the model allows to correct the systematic behaviour in robot deviations and improve with that the position tolerance of the holes to be drilled.
International
Si
JCR
Si
Title
Robotics And Computer-Integrated Manufacturing
ISBN
0736-5845
Impact factor JCR
4,39
Impact info
Volume
65
10.1016/j.rcim.2020.101966
Journal number
From page
1
To page
15
Month
OCTUBRE
Ranking
Participants
Research Group, Departaments and Institutes related
  • Creador: Grupo de Investigación: Ingeniería de Fabricación