Accuracy analysis in mobile robot machining of large-scale workpiece |
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| Affiliation: | 1. Department of Mechanical Engineering (DME), The State Key Laboratory of Tribology & Tsinghua University (DME)-Siemens Joint Research Center for Advanced Robotics, Tsinghua University, Beijing 100084, China;2. Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipments and Control, Tsinghua University, Beijing 100084, China;1. Centre for Automation and Robotics (CAR UPM-CSIC), Universidad Politecnica de Madrid, Spain;2. VTT - Technical Research Centre of Finland Ltd, Oulu, Finland;3. Faculty of Engineering and Science, University of Agder, Grimstad, Norway;4. Fraunhofer-Institut für Produktionsanlagen und Konstruktionstechnik IPK, Berlin, Germany;5. Comau s.p.a., Robotics and Automation Products, Italy;6. EasyRob, Germany;1. The State Key Laboratory of Tribology & Tsinghua University (DME)-Siemens Joint Research Center for Advanced Robotics, Department of Mechanical Engineering (DME), Tsinghua University, Beijing 100084, China;2. Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipments and Control, Department of Mechanical Engineering (DME), Tsinghua University, Beijing 100084, China |
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| Abstract: | Mobile robot machining provides more flexible machining mode compared to the robot machining with a fixed base. However, its machining accuracy is frequently questioned. This paper focuses on the accuracy analysis in mobile robot machining. To evaluate the machining error qualitatively, the tool center point (TCP) error index is defined as the distance between the TCP and the designed machining point. The different error sources acting on the TCP error index are enumerated, and the theoretical accuracy analysis is proposed to eliminate the TCP error. The mobile robot machining strategy is then proposed based on the accuracy analysis. To ensure high machining accuracy, the global measurement system locates the position of the workpiece and the mobile platform. The force-controlled grinding head is used to compensate the TCP error. Experimental results show that the TCP error during mobile robot machining is lower than 40 mm, which mainly introduced by the calibration of the workpiece. The force-controlled grinding head can compensate the TCP error and the fluctuation of the grinding force under the control is lower than ±2 N. |
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