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Physics-based modelling and measurement of advanced manufacturing machinery’s positioning accuracy: Machine tools, industrial manipulators and their positioning accuracy
KTH, School of Industrial Engineering and Management (ITM). (MMS)ORCID iD: 0000-0002-2376-4922
2019 (English)Licentiate thesis, comprehensive summary (Other academic)
Abstract [en]

Advanced manufacturing machinery is a corner stone of essential industries of technologicallydeveloped societies. Their accuracy permits the production of complexproducts according to tight geometric dimensions and tolerances for high efficiency,interchangeability and sustainability. The accuracy of advanced manufacturingmachinery can be quantified by the performance measure of positioning accuracy.Positioning accuracy measures the closeness between a commanded and an attainedposition on a machine tool or industrial manipulator, and it is ruled by lawsof physics in classical mechanics and thermodynamics. These laws can be applied tomodel how much the machinery deflects due to gravity, expands due to a change intemperature and how much and how long it vibrates due to process forces; hence,one can quantify how much the accuracy decreases. Thus, to produce machinerywith ever higher accuracy and precision one can design machines which deflect,expand and vibrate less or one can understand and model the actual behaviour ofthe machinery to compensate for it.This licentiate thesis uses physics-based modelling to quantify the positioningaccuracy of machine tools and industrial robots. The work investigates the potentialincrease in positioning accuracy because of the simultaneous modelling of the kinematics,static deflections, vibrations and thermo-elasticity as a lumped-parametermodel of the machinery. Consequently the models can be used to quantify thechange of the accuracy throughout the workspace.The lumped parameter models presented in this work require empirical modelcalibration and validation. The success of both, calibration and validation, dependson the availability of the right measurement instruments, as these need to be ableto capture the actual positioning accuracy of machinery. This thesis focuses on theimportance of measurement instruments in industry and metrology and creates acatalogue of requirements and trends to identify the features of the measurementinstruments required for the factories of the future. These novel measurement instrumentsshall be able to improve model calibration and validation for an improvedoverall equipment effectiveness, improved product quality, reduced costs, improvedsafety and sustainability as a result of physics-based modelling and measurementof advanced manufacturing machinery.

Place, publisher, year, edition, pages
Stockholm: Universitetsservice US AB , 2019. , p. 72
Series
TRITA-ITM-AVL ; 2019:40
Keywords [en]
Machine tools, Industrial robots, Accuracy, Measurement instruments
National Category
Mechanical Engineering
Research subject
Production Engineering
Identifiers
URN: urn:nbn:se:kth:diva-263700ISBN: 978-91-7873-391-0 (print)OAI: oai:DiVA.org:kth-263700DiVA, id: diva2:1368939
Presentation
2019-12-10, M311, Brinellvägen 68, Stockholm, 10:00 (English)
Opponent
Supervisors
Available from: 2019-11-19 Created: 2019-11-08 Last updated: 2019-11-19Bibliographically approved
List of papers
1. Articulated industrial robots: An approach to thermal compensation based on joint power consumption
Open this publication in new window or tab >>Articulated industrial robots: An approach to thermal compensation based on joint power consumption
2019 (English)In: / [ed] Blunt, Liam; Knapp, Wolfgang, 2019, p. 81-90Conference paper, Published paper (Refereed)
National Category
Mechanical Engineering
Research subject
Production Engineering; Engineering Mechanics
Identifiers
urn:nbn:se:kth:diva-249625 (URN)978-0-9957751-3-8 (ISBN)
Conference
Lamdamap XIII
Note

QC 20190424

Available from: 2019-04-14 Created: 2019-04-14 Last updated: 2019-11-08Bibliographically approved
2. Closed-force-loop elastostatic calibration of serial articulated robots
Open this publication in new window or tab >>Closed-force-loop elastostatic calibration of serial articulated robots
2019 (English)In: Robotics and Computer-Integrated Manufacturing, ISSN 0736-5845, E-ISSN 1879-2537, Vol. 57, p. 86-91Article in journal (Refereed) Published
Abstract [en]

This paper presents a novel methodology to measure the compliance of articulated serial robots based on the Elastically Linked Systems concept. The idea behind the methodology is to measure serial articulated robots with customized external wrench vectors under a closed-force-loop. The methodology proposes to measure robots in use-case defined configurations to increase the effect of the identified model parameters on their later implementation. The measurement methodology utilizes the Loaded Double Ball Bar to customize wrench vectors and a laser tracker to measure the system response. In particular, the Loaded Double Ball Bar creates the closed-force-loop to create a flow of forces similar to the intended application of the robot. The methodology is applied to an industrial robot with six rotary joints using the LDBB and a laser tracker. Finally, the paper ends on a discussion about the implementation of the model parameters to improve the accuracy of robots as well as challenges to realize a more cost efficient elastostatic calibration.

Keywords
Industrial robot Compliance Closed-loop loaded testing
National Category
Mechanical Engineering
Research subject
Production Engineering
Identifiers
urn:nbn:se:kth:diva-239611 (URN)10.1016/j.rcim.2018.07.007 (DOI)000459525400007 ()2-s2.0-85056879522 (Scopus ID)
Note

QC 20181210

Available from: 2018-11-27 Created: 2018-11-27 Last updated: 2019-11-08Bibliographically approved

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