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Geometrical Error Analysis and Correction in Robotic Grinding

Sufian, M (2020) Geometrical Error Analysis and Correction in Robotic Grinding. Doctoral thesis, Liverpool John Moores University.

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The use of robots in industrial applications has been widespread in the manufacturing tasks such as welding, finishing, polishing and grinding. Most robotic grinding focus on the surface finish rather than accuracy and precision. Therefore, it is important to advance the technology of robotic machining so that more practical and competitive systems can be developed for components that have accuracy and precision requirement. This thesis focuses on improving the level of accuracy in robotic grinding which is a significant challenge in robotic applications because of the kinematic accuracy of the robot movement which is much more complex than normal CNC machine tools. Therefore, aiming to improve the robot accuracy, this work provides a novel method to define the geometrical error by using the cutting tool as a probe whilst using Acoustic Emission monitoring to modify robot commands and to detect surfaces of the workpiece. The work also includes an applicable mathematical model for compensating machining errors in relation to its geometrical position as well as applying an optimum grinding method to motivate the need of eliminating the residual error when performing abrasive grinding using the robot. The work has demonstrated an improved machining precision level from 50µm to 30µm which is controlled by considering the process influential variables, such as depth of cut, wheel speed, feed speed, dressing condition and system time constant. The recorded data and associated error reduction provide a significant evidence to support the viability of implementing a robotic system for various grinding applications, combining more quality and critical surface finishing practices, and an increased focus on the size and form of generated components. This method could provide more flexibility to help designers and manufacturers to control the final accuracy for machining a product using a robot system.

Item Type: Thesis (Doctoral)
Uncontrolled Keywords: Error Compensation; Robotic Grinding; Datum Location
Subjects: T Technology > T Technology (General)
T Technology > TA Engineering (General). Civil engineering (General)
Divisions: Engineering
Date Deposited: 07 May 2020 08:25
Last Modified: 14 Dec 2022 11:31
DOI or ID number: 10.24377/LJMU.t.00012895
Supervisors: Chen, X
URI: https://researchonline.ljmu.ac.uk/id/eprint/12895
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