Papers by Keyword: Robot Machining

Abstract: A special control system of IRb 60 industrial robots by using PC computer was shown in this work. Robots steering system equipped with the controller connected to computer’s LPT port was made and tested. This interface was connected to a manual control panel of the robot. The system was controlled by special VB 6.0 software. It is possible manual or automated control of robot move. Using this system was made other applications for many tasks of using an industrial robot equipped with tool and sensors in research and manufacturing.

Abstract: Industrial robots are used for many tasks, mainly for material handling, welding and cutting. Robots can be also equipped with other tools for example drill or mill cutter and used for machining. Compared to conventional machines, robots have some advantages, which are: large range, flexibility and speed. On the other hand the greater disadvantage is small stiffness of robotic arms. Also the precision of robot positioning is smaller than modern CNC machines. Nowadays small number of robots are used mainly for machining of soft materials, such as plastic, wood, foam and aluminium. We have also executed some experiments with robot machining including styrodur milling. This technique is similar to rapid prototyping technics. Obtained parts can be used as prototypes. Robots can be used also for machining of hard materials and steel, but that is related with greater cutting force. Thanks they flexibility robots can be used for tasks that are performed by hand by locksmiths. An example of deburring and chamfering of sharp edges were analysed. The burrs and sharp edges that remains after some machining operations must be removed. In most cases that is done by chamfering the edges with hand tools. That tasks requires skilled workers and is physically exhausting and therefore industrial robots can be used to perform that work. But the first problem is prediction of cutting force and selection of proper robot with adequate payload. A mechanistic model of cutting force during milling a chamfer on the edge is presented in the article. Obtained results are similar with other experimental results that are described in the analysed bibliography. Afterwards a methodology for robot selection is explained. Because robot manufacturers give only data for static payload of robot arm, there must be a way to take into account the dynamic cutting force. Some problems that are possible during robot machining are discussed, and some solution are proposed. Because milling force is not constant and still subsequently changes value and direction, it can be the source of vibration. Small stiffness of robot arm combined with vibrations can caused losing of robot position and improper surface after machining. Other problem can be robot programming for machining of curved surfaces in 3 dimensional space. There are same CAM system that can be used for that purpose. Results obtained with developed model can be used for design of robotic cell for chamfering and milling.   Normal 0 21 false false false PL X-NONE X-NONE /* Style Definitions */ table.MsoNormalTable {mso-style-name:Standardowy; mso-tstyle-rowband-size:0; mso-tstyle-colband-size:0; mso-style-noshow:yes; mso-style-priority:99; mso-style-parent:""; mso-padding-alt:0cm 5.4pt 0cm 5.4pt; mso-para-margin:0cm; mso-para-margin-bottom:.0001pt; mso-pagination:widow-orphan; font-size:10.0pt; font-family:"Times New Roman","serif";}

Abstract: The paper presents a model of tool with controlled geometry of the active surface. This tool is very suitable for use with an industrial robot, for example, to form polystyrene foam. The tool was built in the form of two discs mounted on axes stepper motors positioned in the frame. This discs combined using two wires with feature a length of a wire compensation system. It was made using the spiral spring. Tool geometry was set by rotating one of the discs at a specific angle (0-180^o). After starting the both engines, concurrently at the same direction, surface of tool action is obtained in the form of hyperboloid. To run the tool uses stepper motors connected to a computer equipped with an interface card and specially developed control software. Tool joined to the IRb60 robot wrist can obtain curved surface as a superposition of the kinematics of tool and robot wrist.

Abstract: Paper shows system to surface shape and quality control in machining using industrial robot. To surface control videooptical methods were used. Surface shape was controlled using the special reverse engineering system. To surface roughness measure machined surface reflectivity method was used. Used own constructions non contact system was equipped with red laser light and USB camera. Wrist of robot was equipped with grinding tool. In paper shows some algorithms of presented processes. Shown too examples of experiments results in surface roughness measure in start end of grinding process. First trials of presented system shows possibility to build smart machining system for finishing of surface with unknown shape.

Abstract: Paper presents the robot equipped with the tool to surface machining. To recognize the machining area USB camera mounted to robots wrist was used. Possibilities of using surface view to self programming the surface finishing were shown. Special PC control system of industrial robot was used.

Abstract: Paper describes the robot equipped with USB camera for capture view of machined objects and tools holder mounted to robots wrist. Showed ideas of using view of machined surface to programming the machining process as art milling or surface grinding. Special pc control of industrial robot system was used.

Abstract: Paper shows system to surface quality control in robot machining. To surface roughness measure was used reflectivity method. Used own construction non contact system was equipped with red laser light and USB camera.

Abstract: Paper describes the robot equipped with turning tools holder mounted to robots head. Was used head rotation to the tool changing. Robot collaborated with lathe which positioned in plane of robot’s arm moving. Coordinates x and z of robot are used to control of turning. Controlled by PC machining of the workpiece was made with G-code using. Presented system was used to wood turning.