Off-line nominal path generation of 6-dof robotic manipulator for edge finishing and inspection processes

Download

index.pdf

Date

2016

Author

Nemer, Mahmoud

Metadata

Show full item record

Item Usage Stats

207
views

140
downloads

This thesis deals with the development of a Computer Aided Robotic Machining Process Planning package. The main aim of the package is to generate an efficient, collision-free, nominal tool path needed for edge finishing and inspection processes by utilizing a 6-DoF robotic arm. Automation of edge deburring and chamfering consists of two main parts. First part is generating the overall nominal tool path. While the second part focuses on controlling the material removal. The overall nominal tool path planning involves analyzing the geometry of the workpiece, determining and designing an efficient collision-free tool path and generating the tool path data for the robot and finally verifying it. The generated tool path can also be used for different robotic machining processes. One of the most popular PC-based CAD software, SolidWorks, is chosen as the user interface platform. A software package programmed in the application programming interface (API) of SolidWorks generates tool path data for the robot. The ABB IRB2000 robot is chosen for executing the generated tool path. The programming language used for developing this software is Visual Basic. Ultimately, such path is to be utilized as the nominal tool path by any control strategy present in the literature for a complete automatic edge finishing process.

Subject Keywords

Machining., Machine-tools., CAD/CAM systems., Finishes and finishing.

URI

http://etd.lib.metu.edu.tr/upload/12620085/index.pdf
https://hdl.handle.net/11511/25739

Collections

Graduate School of Natural and Applied Sciences, Thesis

Suggestions

OpenMETU
Core

Off-line nominal path generation of 6-DoF robotic manipulator for edge finishing and inspection processes Nemer, Mahmoud; Konukseven, Erhan İlhan (Springer Science and Business Media LLC, 2018-10-01) This paper deals with the development of a Computer-Aided Robotic Machining Process Planning package based on SolidWorks. The main aim of the package is to generate an efficient, collision-free, nominal tool path needed for edge finishing and inspection by utilizing a 6-DoF robotic arm. The overall nominal tool path involves analyzing the geometry of the workpiece, determining and designing an efficient collision-free tool path and finally generating the tool path data for the robot and verifying it. This p...
Modular fixture design for CNC machining centers Kılıçarslan, Yusuf; Dölen, Melik; Department of Mechanical Engineering (2019) A new modular fixturing system is developed for CNC machining centers in the content of this thesis study. In the proposed fixture, studies are carried on to manufacture precise parts for finish milling operations. Some workpieces are loaded in the proposed fixturing system by using relevant fixture elements. Forces and moments are investigated that are acting during the machining operation. The precision of the machined surfaces is estimated by using Monte-Carlo Simulation. In the experimental section of t...
Evaluation of compression algorithms for motion command generation Yaman, Ulaş; Dölen, Melik (2011-04-15) This paper focuses on a direct command generation technique for Computer Numerical Control (CNC) machine systems. In this paradigm, higher-order differences of a given trajectory (i.e, position) are computed and the resulting data are compacted via data compression techniques. As a part of the command generation scheme, the paper also introduces a new data compression technique titled ΔY10. Apart from this new method, the performances of the proposed generator employing different compression algorithms (suc...
Development of man machine interface software for an industrial robot Konukseven, Erhan İlhan (2004-07-14) This paper describes the design and implementation of a man machine interface software for the ABB IRB-2000 industrial robot. The main aim of this software is to provide features which would facilitate on-line/off-line programming of the robot. The software would provide a three dimensional graphical simulation of the robot and its environment, which also allows loading custom designed objects into the simulated environment. The software also offers collision detection capability between graphically simulat...
System integration of MEMS devices on flexible substrate for fully implantable cochlear implant applications Soydan, Alper Kaan; Külah, Haluk; Department of Micro and Nanotechnology (2019) This master thesis is a result of multidisciplinary research bringing together concepts in electronics engineering, implant technologies, materials science, microfabrication, and device physics. Advancements in healthcare technology and in-vivo implants, electronic devices implemented on flexible substrates are highly demanded in the near future. In order to create a physically flexible device which consists of rigid sub-systems serving distinct purposes and made up of varying types of materials, we need re...

Citation Formats

M. Nemer, “Off-line nominal path generation of 6-dof robotic manipulator for edge finishing and inspection processes,” M.S. - Master of Science, Middle East Technical University, 2016.