Optimization, vibration control and condition monitoring of collaborative robotic machining

协作机器人加工的优化、振动控制和状态监测

• 批准号: RGPIN-2019-05794
• 负责人: Liu, Zhaoheng
• 金额: $ 2.84万
• 依托单位: École de technologie supérieure
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2021
• 资助国家: 加拿大
• 起止时间: 2021-01-01 至 2022-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=738519
• 关键词: Optimization; vibration; control; condition; monitoring; Optimization; vibration; control; condition; monitoring

The use of robots as cutting tool holders to remove material from metal parts is recognized as an effective and flexible approach for an increasing number of industrial applications. Robot-based machining systems have been successfully used for the repair of hydroelectric equipment and are also an interesting alternative solution for automating various processes in the field of mechanical and aerospace manufacturing. Robotic machining offers several advantages compared to conventional computer numerical control (CNC) machining. Robotic machining systems are not only more flexible, manoeuvrable and less expensive to operate, they can also save up to 40% in production workspace compared to industrial CNC machining centers. Robotic machining is also more suitable in hazardous working conditions to replace human operators. This program proposes a new robotic machining strategy using two hexapods for collaborative robotic machining operations. The main objective is to investigate the dynamics of the proposed robotic machining processes, to optimize the tool path and cutting parameters for feature machining of planar and curved surfaces and to propose a process monitoring approach. This research program is intended to increase the level of manufacturing readiness of the robotic machining. Within the scope of the proposed research program, we will study the feasibility of a new collaborative machining approach/architecture using two hexapods. We propose to model and study the dynamics of the collaborative robotic system, the material removal mechanism, and the linear and nonlinear chatter vibration problems associated with the machining process. Vibration control algorithms will be proposed to stabilize robotic machining operations and thereby increase the productivity and quality of the process. Moreover, a new process monitoring approach applied to the robotic machining process will be developed and implemented using wireless instrumented embedded force sensors for online control of the robotic machining. Regarding the hardware configuration, we propose a new build up using two hexapods. This set-up is expected to offer an increased dexterity for the machining of complex parts and easier design of tool path for chatter-free and singularity-free configurations by moving both end-effectors simultaneously and cooperatively. The originality of this research proposal lies in the development of a novel collaborative machining system using parallel robots, an active vibration control strategy and an online monitoring system using embedded sensors for robotic machining. This research will provide contributions for the development of flexible and reconfigurable manufacturing systems and increase the application versatility of robots in industrial automation.

将机器人用作切割工具持有人从金属零件中去除材料被认为是越来越多的工业应用的有效和灵活的方法。基于机器人的加工系统已成功地用于维修水力发电设备，也是自动化机械和航空航天制造领域各种过程的有趣替代解决方案。与传统的计算机数值控制（CNC）加工相比，机器人加工提供了几个优势。与工业CNC加工中心相比，机器人加工系统不仅更加灵活，可操作和运营便宜，而且还可以节省多达40％的生产工作区。机器人加工也更适合危险工作条件来替代人类操作员。该计划提出了一种新的机器人加工策略，该策略使用两种六足动物进行协作机器人加工操作。主要目的是研究提出的机器人加工过程的动力学，以优化工具路径和切割参数，以用于平面和弯曲表面的特征加工，并提出一种过程监视方法。该研究计划旨在提高机器人加工的制造准备水平。在拟议的研究计划的范围内，我们将使用两种六角形的新协作加工方法/架构的可行性。我们建议建模和研究协作机器人系统的动力学，材料去除机制以及与加工过程相关的线性和非线性聊天振动问题。将提出振动控制算法来稳定机器人加工操作，从而提高过程的生产率和质量。此外，将使用无线仪器嵌入式力传感器开发和实施一种应用于机器人加工过程的新过程监控方法，以在线控制机器人加工。关于硬件配置，我们使用两个Hexapods提出了一个新的堆积。预计通过同时且合作地移动两个最终效果，可以为复杂零件的加工加工提供更高的灵巧性，并为无聊和无奇异性配置的工具路径设计更轻松。该研究建议的独创性在于使用平行机器人，主动振动控制策略和使用嵌入式传感器进行机器人加工的新型协作加工系统的开发。这项研究将为开发灵活和可重构制造系统的开发提供贡献，并增加机器人在工业自动化中的应用。