Off-line correction method suitable for a machining robotapplication to composite materials
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ORIGINAL ARTICLE
Off-line correction method suitable for a machining robot application to composite materials Guillaume Carriere 1 & Mourad Benoussaad 1 & Vincent Wagner 1 & Gilles Dessein 1 & Benjamin Boniface 2 Received: 21 March 2020 / Accepted: 17 August 2020 # Springer-Verlag London Ltd., part of Springer Nature 2020
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 (4-m 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, 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 identification means. This study proposes a new off-line correction based on the mirror correction applied during machining. This method is quickly applicable and required only a 3D vision system. Moreover, it is adapted to any 6-axis serial robot, unlike exiting methods that requires a robot modeling and characterization, which is adapted to a specific robot only. After measuring the position of the tool during a first machining operation, this measurement is compared with the initial program setpoint for 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 method, the implementation, and the results obtained following its 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. Keywords Robotic machining . Composite machining . Robotic accuracy . Error compensation . Mirror correction method . Vision-based measurements
Nomenclature Vc Fz
Cutting speed in m/min Feed per revolution in mm/tooth
* Guillaume Carriere [email protected] Mourad Benoussaad [email protected] Vincent Wagner [email protected] Gilles Dessein [email protected] Benjamin Boniface [email protected] 1
Laboratoire Génie de Production, Ecole Nationale d’Ingénieurs de Tarbes, Université de Toulouse, Tarbes Cedex, France
2
Groupe LAUAK, LAUAK Innovative Solutions, Bagnères de Bigorre, France
COM method EtC-track Pm Pi D E E* P P* CAM CAM_p MES_p RMS Xt, Yt Ef Eini
Tool material pair method Standard deviation of C-track device Measured tool position Desired tool position Deviation between measured and desired tool position Error vector Correction vector Measured tool position by C-track device Correction tool position Computer-aided manufacturing Computer-aided manufacturing desired tool position Measure
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