Robot-process precision modelling for the improvement of productivity in flexible manufacturing cells

Ferreras Higuero, Eugenio and Leal Muñoz, Erardo and García de Jalón, Javier and Chacón Tanarro, Enrique and Vizán Idoipe, Antonio (2020). Robot-process precision modelling for the improvement of productivity in flexible manufacturing cells. "Robotics and Computer-Integrated Manufacturing", v. 65 ; pp. 1-15. ISSN 0736-5845. https://doi.org/10.1016/j.rcim.2020.101966.

Description

Title: Robot-process precision modelling for the improvement of productivity in flexible manufacturing cells
Author/s:
  • Ferreras Higuero, Eugenio
  • Leal Muñoz, Erardo
  • García de Jalón, Javier
  • Chacón Tanarro, Enrique
  • Vizán Idoipe, Antonio
Item Type: Article
Título de Revista/Publicación: Robotics and Computer-Integrated Manufacturing
Date: October 2020
ISSN: 0736-5845
Volume: 65
Subjects:
Freetext Keywords: Position tolerance Multibody system with mixed coordinates Drilling robot Quaternions Uncertainty analysis
Faculty: E.T.S.I. Industriales (UPM)
Department: Ingeniería Mecánica
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

Industrial robots are traditionally used at machining cells for machine feeding and workpiece handling. A reassignment of tasks to improve the productivity requires a modelling of the robot behaviour from the point of view of its position precision. This paper characterizes and predicts the precision achievable when drilling with an industrial robot in order to use it in machining operations. Robot behaviour and drilling phenomena are analysed to determine working accuracy and their contribution in position deviation and uncertainty. An efficient model for drilling is developed, applying quaternions and considering the influence of all cutting tool angles, providing a very precise estimation of drilling torques and forces. An innovative model for the robot is developed based on multibody systems, using mixed natural coordinates that enhance the computing and deliver outputs with direct interpretation. Besides, the effect of stiffness is added in joints as additional element. The complete robot-process model shows the significative process influence in working precision against robot influence. This influence is responsible of up to 40% of the total uncertainty. The model and the tests performed show that the deviations and their uncertainties depend strongly on drilling forces and the robot configuration. In the other hand, the model allows to correct the systematic behaviour in robot deviations and improve with that the position tolerance of the holes to be drilled.

Funding Projects

TypeCodeAcronymLeaderTitle
Government of SpainDPI2016-79960-C3-1-PUnspecifiedUnspecifiedDESARROLLO DE SISTEMAS DE FABRICACION INTELIGENTES CON ROBOTS COLABORATIVOS

More information

Item ID: 60421
DC Identifier: http://oa.upm.es/60421/
OAI Identifier: oai:oa.upm.es:60421
DOI: 10.1016/j.rcim.2020.101966
Official URL: https://www.sciencedirect.com/science/article/pii/S0736584519306532?via%3Dihub
Deposited by: Memoria Investigacion
Deposited on: 19 Mar 2020 16:28
Last Modified: 19 Mar 2020 16:28
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