@Article{FurtadoVillTrabSuté:2017:MeImUs,
author = "Furtado, L. F. F. and Villani, E. and Trabasso, L. G. and
Sut{\'e}rio, Ricardo",
affiliation = "{Instituto Tecnol{\'o}gico de Aeron{\'a}utica (ITA)} and
{Instituto Tecnol{\'o}gico de Aeron{\'a}utica (ITA)} and
{Instituto Tecnol{\'o}gico de Aeron{\'a}utica (ITA)} and
{Instituto Nacional de Pesquisas Espaciais (INPE)}",
title = "A method to improve the use of 6-dof robots as machine tools",
journal = "The International Journal of Advanced Manufacturing Technology",
year = "2017",
volume = "92",
number = "5/8",
pages = "2487--2502",
month = "Sept.",
keywords = "s Robot machining . Industrial manipulators . Manufacturing .
Robotics.",
abstract = "Since the introduction of robots in the automotive industry for
pick and place tasks, new technologies have been developed in
order to adapt robots to different manufacturing processes. Among
them, the use of robots as machine tools is a technological trend
that demands further investigation. Industrial robots with 6 DOF
(degrees of freedom) in a serial kinematic chain have larger
workspace and more flexibility, when compared with CNC machines.
However, robots stiffness is lower than that of CNC machines.
Consequently, vibration problems are expected, which can have a
direct impact on the quality of the machined workpieces. This work
proposes a method to evaluate and customize the use of a COTS
(commercial off-the-shelf) robot equipped with a spindle for
machining processes. It aims at improving the machining processes
based on the measurement of the workpiece waviness and explores
the fact that the accuracy and rigidity of industrial robots with
serial kinematic chains behave in an anisotropic way, according to
the robot pose and the cutting force direction. The method is
composed of a set of five experiments and is applied to the
evaluation of a robot machining aluminium workpieces. The results
allow the identification of the relevant factors that affect the
surface quality of the workpiece and recommend the best robot
configuration for meeting the waviness requirements of the
workpiece. Even though the application case describes the
machining of aluminium workpiece, the proposed method is generic
enough to be applied to different workpiece geometries and
materials.",
doi = "10.1007/s00170-017-0336-8",
url = "http://dx.doi.org/10.1007/s00170-017-0336-8",
issn = "0268-3768",
language = "en",
targetfile = "furtado_method.pdf",
urlaccessdate = "28 abr. 2024"
}