Ballbar applications for machining and non-machining setups in ahexapod-based machining cell
Notice bibliographique
Résumé
Abstract: Robotic machining is gaining popularity in modern manufacturing due to its cost and flexibility benefits. Compared to serial robots, hexapod-based industrial work cells offer greater rigidity with a smaller footprint. At ÉTS, a robotic machining cell using two Fanuc F-200iB hexapods was developed. The machining quality of the hexapod is directly influenced by its positioning performance. To ensure high-quality machining, a Renishaw telescopic ballbar with a 1000 Hz sampling rate was selected to evaluate the positioning performance of this work cell in both non-machining and machining setups. In the non-machining setup, factors such as thermal drift, feeding speed, and testing positions for ballbar measurements were considered. The experiment showed that the circular deviation increased to approximately 53.5 ?m after 12 hours at a fixed position, but stabilized within 2 hours. Therefore, a preheating process is necessary before conducting formal ballbar measurements. The circular deviation increased within the feeding speed range of 500-6000 mm/min. During no-load running, the hexapod's positioning performance varied from 33.8 ?m to 99.3 ?m across 30 positions. The maximum circular deviation was observed at the boundary of the maximum working envelope. In the machining setup, a customized fixture was employed to investigate how machining parameters, such as feeding speed, cutting depth, and spindle speed, affect the positioning performance of the hexapod. Through an analysis of the Taguchi experimental plan (with three factors and two levels), a significant vibration effect on circular deviation in the machining-based ballbar measurement was observed. This effect was closely related to the spindle speed. Developing an understanding of the relationship between measured vibrations and machining parameters is crucial for optimizing hexapod-based machining. To this end, an unscented Kalman filter (UKF) was developed to isolate the vibrations present in recorded ballbar results. Compared to the non-machining setup, the machining-based ballbar setup exhibited 4-20 times more vibrations, which were significantly influenced by machining parameters, particularly at high spindle speeds. Finally, the research findings provide a quantitative assessment of the positioning performance of the hexapod-based machining cell in both non-machining and machining setups. We identified optimized machining positions and the respective contributions of each machining parameter, which are critical for achieving good robotic machining. Future work will explore the relationship between isolated vibrations and part machining quality, with the aim of developing a machining quality prediction system for hexapod-based working cells.
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Comment cette classification a été obtenuedéplier
Prédiction distillée sur la base complète
Imitation des enseignantsNi prévalence calibrée, ni vérité terrain. Validation humaine à venir. Apprise à partir de 10 348 étiquettes directes de Codex et de 10 348 étiquettes directes de Gemma. Le mode candidate est l'union des têtes enseignantes seuillées; le consensus est leur intersection. Ces sorties portent le statut machine_predicted_unvalidated et ne sont ni des étiquettes humaines ni des étiquettes directes de modèles de pointe.
Scores Codex et Gemma par catégorie
| Catégorie | Codex | Gemma |
|---|---|---|
| Métarecherche | 0,000 | 0,000 |
| Méta-épidémiologie (sens strict) | 0,000 | 0,000 |
| Méta-épidémiologie (sens large) | 0,000 | 0,000 |
| Bibliométrie | 0,000 | 0,000 |
| Études des sciences et des technologies | 0,000 | 0,000 |
| Communication savante | 0,000 | 0,000 |
| Science ouverte | 0,000 | 0,000 |
| Intégrité de la recherche | 0,000 | 0,000 |
| Charge utile insuffisante (le modèle a refusé de juger) | 0,000 | 0,000 |
Scores machine (provisoires)
Les deux têtes enseignantes du modèle étudiant, lues sur ce travail. Un score ordonne la base pour la relecture; il n'affirme jamais une catégorie, et le statut de validation accompagne chaque rangée tel quel.
Scores de référence d'un modèle non mature (critères de maturité non atteints, 7 itérations). Un score ordonne; il n'affirme jamais une catégorie.
score_only:v0-immature-baseline · tel quel depuis la passe de notation : score_only signifie que le nombre peut ordonner les travaux, et qu'aucune étiquette de catégorie n'en découleClassification
machine, non validéePrédiction automatique; un appel candidat d’une seule tête enseignante, pas un consensus.
Le détail, modèle par modèle et score par score, se trouve en fin de page sous « Comment cette classification a été obtenue ».