Modular robotic platform for autonomous machining

Product miniaturisation is one of the key aspects of modern manufacturing technology. One of the ways to fabricate miniaturised product is micromachining using sophisticated computer numerically controlled (CNC) machine tools. However, conventional CNC machines are bulky, stationary, and unable to...

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Main Authors:	Murshiduzzaman, Murshiduzzaman, Saleh, Tanveer, Khan, Md. Raisuddin
Format:	Article
Language:	English English
Published:	Springer London 2019
Subjects:	T Technology (General)
Online Access:	http://irep.iium.edu.my/76101/ http://irep.iium.edu.my/76101/ http://irep.iium.edu.my/76101/ http://irep.iium.edu.my/76101/1/IJAMT_Robot.pdf http://irep.iium.edu.my/76101/7/76101_Modular%20robotic%20platform%20for%20autonomous%20machining_Scopus.pdf

id	iium-76101
recordtype	eprints
spelling	iium-761012020-02-27T01:36:57Z http://irep.iium.edu.my/76101/ Modular robotic platform for autonomous machining Murshiduzzaman, Murshiduzzaman Saleh, Tanveer Khan, Md. Raisuddin T Technology (General) Product miniaturisation is one of the key aspects of modern manufacturing technology. One of the ways to fabricate miniaturised product is micromachining using sophisticated computer numerically controlled (CNC) machine tools. However, conventional CNC machines are bulky, stationary, and unable to carry out parallel operations. This research aims to develop a modular robotic platform which would be able to carry out machining operation in mesoscale. Hexapod robots are legged mobile robots which are used for verities of applications. Here, we have implemented a hexapod robotic platform to support and move the cutting tool (in this case, a drilling tool). The robot was controlled from the host computer through serial communication. A graphical user interface (GUI) was designed and implemented to operate the robot and the drilling spindle. Several machining operations were carried out with the system to assess its performance. An innovative compensation algorithm has been proposed to improve the positional accuracy of the robot movement. The proposed algorithm takes into account spindle speed and linear velocity to mitigate the positional error. The positional accuracy was improved bymore than 60%after implementing the error compensation scheme. In this research we managed to achieve sub-10 μm repeatability (≤ 10 μm) at the lowest spindle and point to point linear speed of 2500 RPM and 200 mm/min, respectively. The performance (in terms of positional accuracy) of the robot was also compared with that of an existing commercial micromachining system where the robot was found to be almost ~ 2× time poorer to that of the commercial machine. Finally, the machined holes’ quality was measured in terms of circularity and taperness. It was observed that at the best machining parameters circularity deviation was as low as 29.4 μm while taperness was 0.54 degree. Springer London 2019-11-04 Article PeerReviewed application/pdf en http://irep.iium.edu.my/76101/1/IJAMT_Robot.pdf application/pdf en http://irep.iium.edu.my/76101/7/76101_Modular%20robotic%20platform%20for%20autonomous%20machining_Scopus.pdf Murshiduzzaman, Murshiduzzaman and Saleh, Tanveer and Khan, Md. Raisuddin (2019) Modular robotic platform for autonomous machining. International Journal of Advanced Manufacturing Technology. ISSN 0268-3768 E-ISSN 1433-3015 (In Press) https://link.springer.com/article/10.1007/s00170-019-04427-1 10.1007/s00170-019-04427-1
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English English
topic	T Technology (General)
spellingShingle	T Technology (General) Murshiduzzaman, Murshiduzzaman Saleh, Tanveer Khan, Md. Raisuddin Modular robotic platform for autonomous machining
description	Product miniaturisation is one of the key aspects of modern manufacturing technology. One of the ways to fabricate miniaturised product is micromachining using sophisticated computer numerically controlled (CNC) machine tools. However, conventional CNC machines are bulky, stationary, and unable to carry out parallel operations. This research aims to develop a modular robotic platform which would be able to carry out machining operation in mesoscale. Hexapod robots are legged mobile robots which are used for verities of applications. Here, we have implemented a hexapod robotic platform to support and move the cutting tool (in this case, a drilling tool). The robot was controlled from the host computer through serial communication. A graphical user interface (GUI) was designed and implemented to operate the robot and the drilling spindle. Several machining operations were carried out with the system to assess its performance. An innovative compensation algorithm has been proposed to improve the positional accuracy of the robot movement. The proposed algorithm takes into account spindle speed and linear velocity to mitigate the positional error. The positional accuracy was improved bymore than 60%after implementing the error compensation scheme. In this research we managed to achieve sub-10 μm repeatability (≤ 10 μm) at the lowest spindle and point to point linear speed of 2500 RPM and 200 mm/min, respectively. The performance (in terms of positional accuracy) of the robot was also compared with that of an existing commercial micromachining system where the robot was found to be almost ~ 2× time poorer to that of the commercial machine. Finally, the machined holes’ quality was measured in terms of circularity and taperness. It was observed that at the best machining parameters circularity deviation was as low as 29.4 μm while taperness was 0.54 degree.
format	Article
author	Murshiduzzaman, Murshiduzzaman Saleh, Tanveer Khan, Md. Raisuddin
author_facet	Murshiduzzaman, Murshiduzzaman Saleh, Tanveer Khan, Md. Raisuddin
author_sort	Murshiduzzaman, Murshiduzzaman
title	Modular robotic platform for autonomous machining
title_short	Modular robotic platform for autonomous machining
title_full	Modular robotic platform for autonomous machining
title_fullStr	Modular robotic platform for autonomous machining
title_full_unstemmed	Modular robotic platform for autonomous machining
title_sort	modular robotic platform for autonomous machining
publisher	Springer London
publishDate	2019
url	http://irep.iium.edu.my/76101/ http://irep.iium.edu.my/76101/ http://irep.iium.edu.my/76101/ http://irep.iium.edu.my/76101/1/IJAMT_Robot.pdf http://irep.iium.edu.my/76101/7/76101_Modular%20robotic%20platform%20for%20autonomous%20machining_Scopus.pdf
first_indexed	2023-09-18T21:47:35Z
last_indexed	2023-09-18T21:47:35Z
_version_	1777413553244864512

Modular robotic platform for autonomous machining

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