Model of Mechatronics Robots Tool with Controlled Geometry

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.

• Periodical: Applied Mechanics and Materials (Volume 436)
• Pages: 382-389
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.436.382
• Online since: October 2013
• Authors: Tadeusz Mikolajczyk*, Łukasz Romanowski, Sebastian Sojka
• Keywords: Hot Wire Cutting, Mechatronics Tool, Polystyrene Foam, Robot Machining

References

[1] Y. H. Chen, Y. N. Hu, Implementation of a Robot System for Sculptured Surface Cutting. Part I Rough machining. Int. J. Adv. Manuf. Techn., vol. 15, (1999), pp.624-629.

DOI: 10.1007/s001700050111

[2] Y. N. Hu, Y. H. Chen, Implementation of a Robot System for Sculptured Surface Cutting. Part II. Finish machining. Int. J. Adv. Manuf. Techn., vol. 15, (1999), pp.630-639.

DOI: 10.1007/s001700050112

[3] H. Latos, T. Mikolajczyk, Surface Shaping with Industrial Robot. OPTIROB'2006, Predeal, Romania, University POLITEHNICA, of Bucharest, (2006), pp.265-269.

[4] T. Mikolajczyk, Manufacturing Using Robot. Advanced Materials Research, vol. 463-464, (2012) pp.1643-1646.

DOI: 10.4028/www.scientific.net/amr.463-464.1643

[5] T. Mikolajczyk, Robot Application to Surface Finishing, Journal of Polish CIMAC, Vol. 5, Nr 3, (2010), pp.107-112.

[6] T. Mikolajczyk, Indication of Machining Area with the Robot's Camera Using, Applied Mechanics and Materials, vol. 282 , (2013), pp.146-151.

DOI: 10.4028/www.scientific.net/amm.282.146

[7] T. Mikolajczyk, Robot-Turner. Advanced Materials Research, vol. 463-464, (2012), pp.1682-1685.

DOI: 10.4028/www.scientific.net/amr.463-464.1682

[8] T. Mikolajczyk, System to Surface Control in Robot Machining. Advanced Materials Research, vol. 463-464 (2012), pp.708-711.

DOI: 10.4028/www.scientific.net/amr.463-464.708

[9] T. Mikolajczyk, Videooptical Surface Shape and Integrity Estimation in Robots Machining, Applied Mechanics and Materials, vol. 332, (2013), pp.431-436.

DOI: 10.4028/www.scientific.net/amm.332.270

[10] T. Mikolajczyk, P. Wasiak, Machining with Image Recognition Using Industrial Robot. Applied Mechanics and Materials, vol. 186, (2012), pp.50-57.

DOI: 10.4028/www.scientific.net/amm.186.50

[11] H. Latos, T. Mikolajczyk, Virtual Aid to Design of Geometric and Kinematics Flexible Tools. XII Workshop on Superv. and Diagn. of Mach. Sys. Virtual Manuf., Karpacz, Poland, (2001), pp.145-152.

[12] F. Ribeiro, J. Norrish, Case Study of Rapid Prototyping using Robot Welding. http: /repositorium. sdum. uminho. pt/bitstream/1822/3083/1/12%20PROBOT~2. pdf.

[13] T. Mikolajczyk, J. Lewandowski, Kształtowanie przyrostowe z zastosowaniem robota przemysłowego. (Rapid Prototyping Using Industrial Robot. ) Inżynieria i Aparatura Chemiczna, nr 3, (2011), pp.51-57, (in polish).

[14] Giant Robot Prints Chairs from Ground-Up Refrigerators [Video] http: /www. fastcodesign. com/1662793/giant-robot-prints-chairs-from-ground-up-refrigerators-video?partner=co_newsletter.

[15] T. Mikołajczyk, P. Milko, Shaping of Polystyrene Foam Products with Industrial Robots. OPTIROB, Predeal, University POLITECHNICA, of Bucharest, (2006), pp.261-264.

[16] A. Pusthuma, Development of a Novel Robotically Effected Plastic Foam Sculpting System for Rapid Prototyping and Manufacturing http: /ir. canterbury. ac. nz/handle/10092/1209.

[17] I. Horváth, S. Joris, M. Vergeest, I. Juhász, Finding the Shape of a Flexible Blade for Free-Form Layered Manufacturing of Plastic Foam Objects http: /citeseerx. ist. psu. edu/viewdoc/download?doi=10. 1. 1. 27. 4242&rep=rep1&type=pdf19.

DOI: 10.1115/detc98/dfm-5752

[18] J. Zhu, R. Tanaka, T. Tanaka, Y. Saito, An 8-Axis Robot Based Rough Cutting System for Surface Sculpturing, The 11th International Conference on Precision Engineering (ICPE), Tokyo, Japan, No. 16-18, (2006-8), pp.139-144.

DOI: 10.1007/1-84628-559-3_23

[19] H. Latos: Zastosowanie ostrzy o prostoliniowych krawedziach do obrobki powierzchni, (Implementation of Straight Cutting Edges for Surface Machining). Zeszyty naukowe Akademii Techniczno-Rolniczej nr 51, Mechanika 19, Bydgoszcz 1978, (in polish).

[20] J. Bronsztein, K. Semendaiev K., Matematyka. Poradnik Encyklopedyczny. (Mathematics. Encyclopedic Handbook), PWN Warszawa, wyd. XX, 2004 (in polish).

[21] H. Latos: Elastycznosc geometryczno-kinematyczna narzedzi skrawajacych, (Geometrics and Kinematics Flexibility of Cutting Tools) . Wydawnictwo Uczelniane Akademii Techniczno-Rolniczej, Bydgoszcz, 1997 (in polish).

[22] T. Mikolajczyk, L. Kamieniecki, PC Controlled Turning Tool. Applied Mechanics and Materials, vol. 325-326, (2013), pp.1110-1114.

DOI: 10.4028/www.scientific.net/amm.325-326.1110

[23] T. Mikolajczyk, Modernisation of IRb60 Industrial Robot Steering System. OPTIROB'2007, Predeal, Romania, University POLITEHNICA, of Bucharest, (2007), pp.149-152.