Low frequency vibration consideration in tool-path computation of two-link serial manipulator for improved accuracy

Denis Juschanin, Fisseha M. Alemayehu, Stephen Ekwaro-Osire

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

Industrial robots are flexible and cost-efficient tools for a multitude of applications such as, polishing, grinding, deburring, and welding. However, their utilization in machining tasks is currently limited due to insufficient position accuracy. This study aims to answer the research question: 'Does including low frequency vibrations (mode coupling chatter) in tool path computation improve accuracy?' For this purpose, the current paper focuses on setting-up a robust and flexible simulation framework. The framework implements a predictive cutting force method into a multibody dynamic (MBD) model of an industrial robot. The framework is structured in an extendable fashion for future research tasks. Future work will include mode coupling chatter into the MBD model to help mitigate the effects of chatter in robotic machining process, which in turn will increase tool-path accuracy.

Original languageEnglish
Title of host publicationAdvanced Manufacturing
PublisherAmerican Society of Mechanical Engineers (ASME)
ISBN (Electronic)9780791846438
DOIs
StatePublished - 2014
EventASME 2014 International Mechanical Engineering Congress and Exposition, IMECE 2014 - Montreal, Canada
Duration: Nov 14 2014Nov 20 2014

Publication series

NameASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)
Volume2A

Conference

ConferenceASME 2014 International Mechanical Engineering Congress and Exposition, IMECE 2014
CountryCanada
CityMontreal
Period11/14/1411/20/14

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    Juschanin, D., Alemayehu, F. M., & Ekwaro-Osire, S. (2014). Low frequency vibration consideration in tool-path computation of two-link serial manipulator for improved accuracy. In Advanced Manufacturing (ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE); Vol. 2A). American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/IMECE2014-39400