Active vibration control for robotic machining

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

Due to their flexibility, low cost and large working volume, 6-axis articulated industrial robots are being used increasingly for drilling, trimming and machining operations. However, producing high quality components has proven to be difficult, as a result of the inherent problems of robots, including low structural stiffness, hence excitation of structural modes, low positional accuracy, and bandwidth limitations associated with dynamics and control. These limit robotic machining to noncritical components and parts with low accuracy and surface finish requirements. As a part of the "Light Controlled Factory" project at the University of Bath, studies have been carried out to improve robotic machine capability, specifically positioning accuracy and vibration reduction. This paper describes experimental studies in reducing robot machining vibrations induced by cutting forces with active vibration control, using accelerometers to measure vibration and inertial actuators to mitigate vibration forces. With a relatively simple controller, a 25% reduction of RMS vibration amplitude is demonstrated.

Original languageEnglish
Title of host publicationAdvanced Manufacturing
Subtitle of host publicationVolume 2
Place of PublicationU. S. A.
PublisherAmerican Society of Mechanical Engineers (ASME)
PagesV002T02A079
Number of pages6
ISBN (Electronic)9780791858356
DOIs
Publication statusPublished - 2017
EventASME 2017 International Mechanical Engineering Congress and Exposition, IMECE 2017 - Tampa, USA United States
Duration: 3 Nov 20179 Nov 2017

Conference

ConferenceASME 2017 International Mechanical Engineering Congress and Exposition, IMECE 2017
CountryUSA United States
CityTampa
Period3/11/179/11/17

Fingerprint

Vibration control
Machining
Robotics
Vibrations (mechanical)
Robots
Trimming
Industrial robots
Accelerometers
Industrial plants
Drilling
Actuators
Stiffness
Bandwidth
Controllers
Costs

Keywords

  • Control
  • Machining
  • Robotics
  • Vibration

ASJC Scopus subject areas

  • Mechanical Engineering

Cite this

Wang, Z., & Keogh, P. (2017). Active vibration control for robotic machining. In Advanced Manufacturing: Volume 2 (pp. V002T02A079). U. S. A.: American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/IMECE2017-71670

Active vibration control for robotic machining. / Wang, Zheng; Keogh, Patrick.

Advanced Manufacturing: Volume 2. U. S. A. : American Society of Mechanical Engineers (ASME), 2017. p. V002T02A079.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Wang, Z & Keogh, P 2017, Active vibration control for robotic machining. in Advanced Manufacturing: Volume 2. American Society of Mechanical Engineers (ASME), U. S. A., pp. V002T02A079, ASME 2017 International Mechanical Engineering Congress and Exposition, IMECE 2017, Tampa, USA United States, 3/11/17. https://doi.org/10.1115/IMECE2017-71670
Wang Z, Keogh P. Active vibration control for robotic machining. In Advanced Manufacturing: Volume 2. U. S. A.: American Society of Mechanical Engineers (ASME). 2017. p. V002T02A079 https://doi.org/10.1115/IMECE2017-71670
Wang, Zheng ; Keogh, Patrick. / Active vibration control for robotic machining. Advanced Manufacturing: Volume 2. U. S. A. : American Society of Mechanical Engineers (ASME), 2017. pp. V002T02A079
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