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1. Link between chips and cutting moments evolution

Author

Alain Gérard, Olivier Cahuc, Claudiu-Florinel Bisu, Institut de Mécanique et d'Ingénierie de Bordeaux (I2M), Institut National de la Recherche Agronomique (INRA)-Université de Bordeaux (UB)-École Nationale Supérieure d'Arts et Métiers (ENSAM), Arts et Métiers Sciences et Technologies, HESAM Université (HESAM)-HESAM Université (HESAM)-Arts et Métiers Sciences et Technologies, HESAM Université (HESAM)-HESAM Université (HESAM)-Institut Polytechnique de Bordeaux-Centre National de la Recherche Scientifique (CNRS), Machines and Production Systems Department (MPS), University Politehnica of Bucharest [Romania] (UPB), and The authors would like to thank the CNRS (UMR 5295) for the financial support to accomplish the project. This paper was supported by CNCSIS-UEFISCSU, project PNII-RU-code-194/2010.

Subjects
Physics, 0209 industrial biotechnology, Moment vector, Depth of cut, General Engineering, Process (computing), FOS: Physical sciences, Mechanical engineering, [PHYS.MECA.GEME]Physics [physics]/Mechanics [physics]/Mechanical engineering [physics.class-ph], 02 engineering and technology, Chip, Machining, Mechanical components, [SPI.MECA.GEME]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Mechanical engineering [physics.class-ph], Physics - General Physics, General Physics (physics.gen-ph), 020303 mechanical engineering & transports, 020901 industrial engineering & automation, 0203 mechanical engineering, Orientation (geometry), moments and forces measurement, central axis characteristics, Link (knot theory), Chip orientation
Abstract

The better understanding of the material cutting process has been shown with the benefit of the forces and moments measurement since some years ago. In paper, simultaneous six mechanical components and chip orientation measurements were realized during turning tests. During these tests, the influence of the depth of cut or feed rate has been observed and a link between the chip orientation and the moment vector orientation or the central axis characteristics has been shown. Nomenclature * corresponding author

Published
2012

2. Dynamic behavior analysis for a six axis industrial machining robot

Author

Mehdi Cherif, Jean-Yves K'Nevez, Alain Gérard, Claudiu-Florinel Bisu, Machines and Production Systems Department (MPS), University Politehnica of Bucharest [Romania] (UPB), Institut de Mécanique et d'Ingénierie de Bordeaux (I2M), Institut National de la Recherche Agronomique (INRA)-Université de Bordeaux (UB)-École Nationale Supérieure d'Arts et Métiers (ENSAM), Arts et Métiers Sciences et Technologies, HESAM Université (HESAM)-HESAM Université (HESAM)-Arts et Métiers Sciences et Technologies, HESAM Université (HESAM)-HESAM Université (HESAM)-Institut Polytechnique de Bordeaux-Centre National de la Recherche Scientifique (CNRS), and This paper was supported by CNCSIS-UEFISCSU, project PNII-RUcode194/2010

Subjects
FOS: Computer and information sciences, 0209 industrial biotechnology, Engineering, Robot calibration, Robot dynamical behavior, Automotive industry, Mechanical engineering, [PHYS.MECA.GEME]Physics [physics]/Mechanics [physics]/Mechanical engineering [physics.class-ph], 02 engineering and technology, Computer Science - Robotics, 020901 industrial engineering & automation, industrial machining robot, 0203 mechanical engineering, Machining, Nondestructive testing, Aerospace, business.industry, General Engineering, Robot behavior analysis, robotic machining applications, [SPI.MECA.GEME]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Mechanical engineering [physics.class-ph], Vibration, 020303 mechanical engineering & transports, Trajectory, Robot, business, Robotics (cs.RO)
Abstract

International audience; The six axis robots are widely used in automotive industry for their good repeatability (as defined in the ISO92983) (painting, welding, mastic deposition, handling etc.). In the aerospace industry, robot starts to be used for complex applications such as drilling, riveting, fiber placement, NDT, etc. Given the positioning performance of serial robots, precision applications require usually external measurement device with complexes calibration procedure in order to reach the precision needed. New applications in the machining field of composite material (aerospace, naval, or wind turbine for example) intend to use off line programming of serial robot without the use of calibration or external measurement device. For those applications, the position, orientation and path trajectory precision of the tool center point of the robot are needed to generate the machining operation. This article presents the different conditions that currently limit the development of robots in robotic machining applications. We analyze the dynamical behavior of a robot KUKA KR240-2 (located at the University of Bordeaux 1) equipped with a HSM Spindle (42000 rpm, 18kW). This analysis is done in three stages. The first step is determining the self-excited frequencies of the robot structure for three different configurations of work. The second phase aims to analyze the dynamical vibration of the structure as the spindle is activated without cutting. The third stage consists of vibration analysis during a milling operation.

Published
2012