The paper is devoted to the robotic based machining. The main focus is made on robot accuracy in milling operation and evaluation robot capacity to perform the task with desired precision. Particular attention is paid to the proper modeling of manipulator stiffness properties and the cutting force estimation. In contrast to other works, the robot performance is evaluated using the circularity norm that evaluates the contortion degree of the benchmark circle to be machined. The developed approach is applied to five industrial robots of KUKA family, which have been ranked for several machining tasks. The validity of the proposed technique was confirmed by experimental study dealing with robot-based machining of circular grooves for several workpiece samples and different locations.

Efficiency evaluation of robots in machining applications using industrial performance measure

Thermally-induced error compensation of spindle system based on long short term memory neural networks

To decrease the thermally induced positioning error of machine tools, a novel approach for modelling and compensation is proposed in this study. The cause of this error is determined to be dynamic pitch error, and its manifestations are discussed in this study. The thermal expansion of a screw shaft under the influence of friction heat is analysed theoretically, and a mathematical model of the transient temperature of the screw with regard to time is developed. A temperature calculation method in the cases of cooling in the process of warming up and warming up after cooling is also introduced. To solve the problem of heat unevenly distributed of the entire screw shaft, the screw shaft is divided into several evenly distributed heat regions, and the established model is fit for each region. The synthetic model is established by superposition of all models of the regions. In addition, an external error compensation system is developed based on a function called external mechanical origin offset in Fanuc CNC systems. Six test pieces are machined to validate the accuracy of the model and the effectiveness of the error compensation system. The result indicates that the accuracy of the pieces is significantly improved compared with that obtained without error compensation. The synthetic model of the entire screw shaft is demonstrated to be an effective approach to improve the accuracy of machine tools.

Thermally induced positioning error modelling and compensation based on thermal characteristic analysis

In the present work, spindle's radial thermal drift error (RTDE) was studied on a vertical machining center. RTDEs in X-direction and Y-direction of a vertical machining center were tested and the main direction of RTDE was determined as Y-direction. RTDEs in Y-direction and temperatures in key points of spindle were tested using different rotating speeds. RTDE models under different postures were established and the compensation strategy was presented. Thereafter, the influence of geometric parameters on the prediction of results was obtained using advanced first order second moment method. The compensation effects were verified using both simulation and experiment. The results indicated that high accuracy and strong robustness can be achieved with the proposed model, even if the rotating speed of spindle randomly changed, or the spindle was disturbed by the cooling system.

Modeling and compensation for spindle's radial thermal drift error on a vertical machining center

This study presents an approach to model and compensate the vertical straightness error of gantry type open hydrostatic guideways. The straightness error is measured at different measurement points on the beam using a laser interferometer. To investigate different trends in the straightness error, a static analysis model is established, based on the error averaging effect considering the guiderail profile error. The linear deviation of the slider is computed and the vertical straightness error is calculated using a least-square method. The simulation results indicate that the measurement points have a big impact on the straightness error. The minimum value appeared when measurement point located at the middle of the X beam. And more closer to Y guide rails, higher value will be. The positions of the measurement points are chosen according to the change trend of the vertical straightness error. Finally, vertical straightness error is compensated and the compensation results are compared between different coordinate values. Experimental results show that the straightness error model and error compensation strategy help to effectively improve the accuracy of gantry type open hydrostatic guideways in grinding machines.

Straightness error modeling and compensation for gantry type open hydrostatic guideways in grinding machine

Fast and accurate modeling for the straightness errors of machine tools is significant important for the implementation of error compensation. To decrease the straightness errors which generally exist in gantry type milling centers, a novel approach for real-time compensation of straightness errors is presented, including an accurate spatial straightness error model which based on B-Spline curves method and a real-time errors compensation system which can compensate multiple errors at the same time in real-time. An experiment is carried out to measure the straightness errors of a gantry type milling center by using a laser interferometer. There are two straightness errors for one direction movement of an axis. As a result, there are six straightness errors for a three-axis milling center. The straightness error model is established by the B-Spline curves method. According to these six straightness error models, a spatial straightness error model is obtained by superposition of these straightness error models. In addition, an external real-time errors compensation system is developed based on the function of external mechanical origin offset in Fanuc CNC systems. The compensation experiments are conducted to verify the accuracy of the spatial straightness error model and the effectiveness of the error compensation system. The experimental results show that the straightness errors of the machined work-pieces are proved to have been decreased over 90% compared with that of non-compensations. The B-Spline curves modeling combining the errors compensation system can be utilized as an effective approach to improve the accuracy of the CNC gantry type milling centers.

Straightness error compensation for large CNC gantry type milling centers based on B-spline curves modeling

This article intends to provide an efficient modeling and compensation method for the synthetic geometric errors of large machine tools. Analytical and experimental examinations were carried out on...

An investigation on modeling and compensation of synthetic geometric errors on large machine tools based on moving least squares method

Intelligent compensation system for geometrical and heating position errors of numerical control machine

The invention provides a temperature sensor used for a numerical control machine tool thermal error test The temperature sensor comprises a neodymium iron boron magnetic shell, a circuit board, a temperature sensing chip and a twisted-pair double-shielding cable wire The circuit board is fixed in the middle part of the internal cavity of the neodymium iron boron magnetic shell The temperature sensing chip is welded at the lower side surface of the circuit board and connected with the bottom part of the neodymium iron boron magnetic shell, and high-thermal-conducting glue is smeared on the bottom part The internal side of high-thermal-conducting glue is fit with the temperature sensing chip, and the external side is attracted on the temperature sensitive points of a numerical control machine tool via the neodymium iron boron magnetic shell The twisted-pair double-shielding cable wire penetrates through the neodymium iron boron magnetic shell and is welded on the circuit board Resin used for thermal insulation fully fills the gap of the internal cavity between the temperature sensing chip and the circuit board and the neodymium iron boron magnetic shell Temperature measurement is performed on the temperature sensitive points of the numerical control machine tool by the temperature sensing chip via high-thermal-conducting glue The circuit board transmits temperature signals to the outside via the twisted-pair double-shielding cable wire The temperature sensor used for the numerical control machine tool thermal error test has advantages of being convenient and reliable in installation, high in precision, great in stability, high in anti-interference and suitable for measurement of temperature of the thermal sensitive points of the numerical control machine tool thermal error test

Temperature sensor used for numerical control machine tool thermal error test

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