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Title:Vpliv statičnih, kinematičnih in dinamičnih dejavnikov na natančnost obdelave z robotom : doktorska disertacija
Authors:Gotlih, Janez (Author)
Brezočnik, Miran (Mentor) More about this mentor... New window
Files:.pdf DOK_Gotlih_Janez_2020.pdf (3,31 MB)
MD5: F6EB329D6A0B5DEA3122F804BCC49355
 
Language:Slovenian
Work type:Doctoral dissertation (mb31)
Typology:2.08 - Doctoral Dissertation
Organization:FS - Faculty of Mechanical Engineering
Abstract:Doktorska disertacija se ukvarja z razvojem metodologije za določanje natančnosti obdelave z uporabo robota. Zaradi prilagodljivosti so industrijski roboti lahko alternativa namenskim strojem, posebej kadar gre za velike obdelovance ali obdelavo netipičnih ali mehkejših materialov. Težava je, da proizvajalci za industrijske robote natančnost robota po celotnem delovnem prostoru podajajo preveč ohlapno. V doktorski disertaciji smo predstavili pristop, ki omogoča določitev statičnih, kinematičnih in dinamičnih lastnosti robota z uporabo analitičnih, numeričnih in eksperimentalnih metod. Analitične metode smo uporabili za določitev gibljivosti in vztrajnosti robota, numerične metode za določitev strukturne togosti in eksperimentalne metode za določitev dušenja in prisotnosti resonančnega stanja sistema ter za kalibracijo numeričnega modela za določitev strukturne togosti robota. S polinomsko regresijo smo vzpostavili nadomestne modele, ki posamezno lastnost povežejo s pozo robota. Poze robota za izdelavo reprezentativnih izdelkov smo poiskali s pomočjo statističnih in nedeterminističnih metod. Izbrali smo Taguchi zasnovo eksperimenta, ki pri obvladljivem obsegu meritev najbolje zadosti pogoju pravokotnosti in omogoča, da se posamezna lastnost robota izrazi neodvisno od drugih. Meje eksperimenta smo določili z večkriterijskim dvojnim genetskim algoritmom z uteženimi ciljnimi kriteriji. Eksperimente rezkanja z robotom smo izvedli v prilagojeni celici. Na podlagi CMM-meritev kakovostnih kriterijev izdelkov smo določili vpliv gibljivosti, strukturne togosti, dušenja, vztrajnosti in prisotnosti resonančnega stanja na natančnost obdelave z robotom. Za kakovostne kriterije smo uporabili ploskost izdelane površine, najmanjši, srednji in največji premer izdelane luknje na treh nivojih ter krožnost, valjnost in ravnost srednjice luknje. Ugotovili smo, da je znotraj eksperimentalno opisanega področja natančnost obdelave z robotom odvisna od vseh obravnavanih dejavnikov.
Keywords:robotika, mehanske obdelave, genetski algoritmi, zasnova eksperimenta, natančnost
Year of publishing:2020
Place of performance:Maribor
Publisher:[J. Gotlih]
Number of pages:XII, 125 str.
Source:Maribor
UDC:004.896:[531.1/.3:621.9.01](043.3)
COBISS_ID:20959235 New window
NUK URN:URN:SI:UM:DK:HZIOVCMB
Views:411
Downloads:86
Metadata:XML RDF-CHPDL DC-XML DC-RDF
Categories:KTFMB - FS
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Licences

License:CC BY-NC-ND 4.0, Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International
Link:http://creativecommons.org/licenses/by-nc-nd/4.0/
Description:The most restrictive Creative Commons license. This only allows people to download and share the work for no commercial gain and for no other purposes.
Licensing start date:05.11.2019

Secondary language

Language:English
Title:INFLUENCE OF STATIC, KINEMATIC AND DYNAMIC FACTORS ON THE ACCURACY OF ROBOTIC MACHINING
Abstract:The doctoral dissertation deals with the development of a methodology for determining the accuracy of robotic machining. Due to their adaptability, industrial robots can be an alternative to specialized machines, especially when dealing with large workpieces or machining atypical or softer materials. The problem is that for industrial robots, manufacturers give robot accuracy throughout the workspace very loose. In the doctoral dissertation, we proposed an approach that allows the static, kinematic and dynamic properties of a robot to be determined by the use of analytical, numerical and experimental methods. Analytical methods were used to determine the manipulability and inertia of the robot, numerical methods were used to determine the structural stiffness, while experimental methods were used to determine damping and presence of the resonant state and to perform calibration of the numerical model for structural stiffness of the robot. With polynomial regression, we have established surrogate models that associate an individual property with the robot posture. Using statistical and non-deterministic methods, we searched for the relevant poses of the robot to machine a set of representative products. We chose the Taguchi experimental design, which in a manageable range of measurements best suits the orthogonality condition and allows an individual property of the robot to be expressed independently of the others. A multi-criteria dual genetic algorithm with weighted target criteria was used to determine the limits of the experiment. Robotic machining experiments were performed in a custom cell. Based on CMM measurements of product quality criteria, we determined the influence of manipulability, structural stiffness, damping, inertia, and the presence of a resonant state on the accuracy of robotic machining. For the quality criteria, we used sixteen different geometrical and dimensional part properties. We found that within the experimentally described region, the robotic machining accuracy depends on all the considered factors.
Keywords:robotics, machining, genetic algorithm, design of experiment, accuracy


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