Active compliance control structure design for a robotic-grinding machine

Download

index.pdf

Date

2017

Author

Dönder, Abdülhamit

Metadata

Show full item record

Item Usage Stats

160
views

37
downloads

Grinding operation has an advantage of precise form shaping in machining processes. However, if the surface profile is not known before the machining process, it is hard to obtain an accurate surface profile using a grinding operation. In this work, a novel method to compensate the form shaping errors in grinding operations due to the lack of a priori knowledge of the surface profile will be presented. Grinding operation on a workpiece with an unknown surface profile is aimed. Compliance force control is implemented by means of admittance control in two degrees of freedom using a piezo actuator and a hexapod parallel manipulator. The desired force interaction between the tool and the workpiece was achieved by imposing an offset from the preset depth of cut. Additionally, tool deflection due to the grinding forces of the robotic grinding setup is taken into consideration. The deflections are computed from the grinding forces in real time and the compensation is performed by the hexapod robot in six degrees of freedom. Based on the literature review, this is the first study in which grinding on a workpiece with an unknown surface profile was performed while tool deflection due to the grinding forces was compensated. Two different control algorithms namely PID control and Active Disturbance Rejection Control were tested on a robotic grinding setup and the experiment results are discussed.

Subject Keywords

Robots, Grinding machines., Robotics.

URI

http://etd.lib.metu.edu.tr/upload/12621311/index.pdf
https://hdl.handle.net/11511/26680

Collections

Graduate School of Natural and Applied Sciences, Thesis

Suggestions

OpenMETU
Core

Online trajectory planning for nonstiff robotic deburring machines based on dynamic movement primitives method Uğurlu, Musab Çağrı; Konukseven, Erhan İlhan; Koku, Ahmet Buğra; Department of Mechanical Engineering (2018) Robotic deburring has an advance of precise and repeatable machining process on specific surface profiles. However, different from traditional deburring, deburring robots require generated trajectories on a workpiece with unknown chip thickness, which is a hard task due to the low stiffness of robot arm and abrasive tool used. This study presents a method for planning the online trajectory of a deburring robot by considering tool deflection based on the motion primitives trained from offline trajectories. F...
Experimental investigation and 3D finite element prediction of the white layer thickness, heat affected zone, and surface roughness in EDM process Shabgard, Mohammadreza; Oliaei, Samad Nadimi Bavil; Seyedzavvar, Mirsadegh; Najadebrahimi, Ahmad (2011-12-01) An axisymmetric three-dimensional model or temperature distribution in the electrical discharge machining process has been developed using the finite element method to estimate the surface integrity characteristics of AISI H13 tool steel as workpiece. White layer thickness, depth of heat affected zone, and arithmetical mean roughness consisting of the studied surface integrity features on which the effect of process parameters, including pulse on-time and pulse current were investigated. Additionally, the e...
Numerical analysis of thermo-mechanical behavior in flow forming Günay, Enes; Fenercioglu, Tevfik Ozan; Yalçınkaya, Tuncay (2021-01-01) Flow forming is a metal forming process for cylindrical workpieces where high velocity deformation leads to radial thinning and axial extension. In the current study, a thermomechanical, dynamic and explicit finite element model of a flow forming process is developed on ABAQUS software. The model is validated through the comparison of reaction forces and geometry obtained from the experiments. Coolant convection effect is analyzed in conjunction with roller and mandrel conduction cooling to study the therma...
An industrial comparative study of cement clinker grinding systems regarding the specific energy consumption and cement properties Hoşten, Çetin; Fidan, Berkan (2012-05-01) This paper is concerned with a comparative analysis of modern cement grinding systems, namely, combined grinding (Comflex (R)), high-pressure roll mill (HPRM) grinding, and horizontal roller mill (Horomill (R)) grinding. Cement production trials were run with these grinding systems in the same cement plant by using the same clinker/gypsum feed to produce cements of almost identical chemical compositions and similar Blaine fineness values of about 3600 cm(2)/g. The grinding systems were compared in terms of ...
Lateral stiffness of steel plate shear wall systems Topkaya, Cem (Elsevier BV, 2009-08-01) The accuracy of the finite element method and strip method of analysis for calculating the lateral stiffness of steel plate shear wall (SPSW) systems is assessed by making comparisons with experimental findings. Comparisons revealed that while both methods provide acceptable accuracy, they also require the generation of sophisticated computer models. In this paper, two alternative methods are developed. The first one is an approximate hand method based on the deep beam theory. The classical deep beam theory...

Citation Formats

A. Dönder, “Active compliance control structure design for a robotic-grinding machine,” M.S. - Master of Science, Middle East Technical University, 2017.