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Off-line correction method suitable for a machining robotapplication to composite materials

Carriere, Guillaume and Benoussaad, Mourad and Wagner, Vincent and Dessein, Gilles and Boniface, Benjamin Off-line correction method suitable for a machining robotapplication to composite materials. (2020) The International Journal of Advanced Manufacturing Technology, 110 (9-10). 2361-2375. ISSN 0268-3768

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Official URL: https://doi.org/10.1007/s00170-020-05947-x

Abstract

Robotic machining finds its place in a multitude of applications with increasingly restrictive dimensional tolerances. In the machining of left-handed shapes for the production of large composite supports (four meters diameter), the expected shape accuracy is a few hundredths. The industrial robot is not initially compatible with such performance criteria. The literature possesses several ways to improve the accuracy of industrial robots such as stiffness modeling of a robot, or stress modeling with dynamic measurement of forces during machining. These methods are difficult to apply in an industrial context because they are too costly in terms of time and investments related to the means of identification. This study proposes a new off-line correction based on the mirror correction applied during machining. This method is fast and required only a 3D vision system. Moreover, it adapts to any 6-axis serial robot. The first step consists in measuring the position of the tool during a first machining operation. This measurement is then compared with the initial program setpoint to identify the robot deviation. A smart and autonomous process is used to re-edit the toolpath to compensate for the deviation. A new machining operation quantifies the correction by producing a part with improved shape tolerances. This article presents the development of the correction strategy, the implementation and the results obtained following its application in the industrial context. A gain of more than 80% is identified and an analysis of this result is proposed. Future complementary developments are suggested as perspectives.

Item Type:Article
HAL Id:hal-03139191
Audience (journal):International peer-reviewed journal
Uncontrolled Keywords:
Institution:Université de Toulouse > Institut National Polytechnique de Toulouse - Toulouse INP (FRANCE)
Other partners > Lauak Innovative Solutions (FRANCE)
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Deposited On:29 Jan 2021 15:33

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