Off-line compensation of the tool path deviations on robotic machining : Application to incremental sheet forming

Jérémy Belchior (1) , Mario Guillo (2) , Eric Courteille (1) , Patrick Maurine (1) , Lionel Leotoing (1) , Dominique Guines (1)

1 LGCGM - Laboratoire de Génie Civil et Génie Mécanique
2 Institut Maupertuis

In this paper, a coupling methodology is involved and improved to correct the tool path deviations induced by the compliance of industrial robots during an incremental sheet forming task. For that purpose, a robust and systematic method is first proposed to derive the elastic model of their structure and an efficient FE simulation of the process is then used to predict accurately the forming forces. Their values are then defined as the inputs of the proposed elastic model to calculate the robot TCP pose errors induced by the elastic deformations. This avoid thus a first step of measurement of the forces required to form a test part with a stiff machine. An intensive experimental investigation is performed by forming a classical frustum cone and a non-symetrical twisted pyramid. It validates the robustness of both the FE analysis and the proposed elastic modeling allowing the final geometry of the formed parts to converge towards their nominal specifications in a context of prototyping applications.

Keywords: Robot machining; Elastic modeling; Robot calibration; Stiffness identification; Off-line compensation; Incremental sheet forming

Domains: Automatic

Jérémy Belchior, Mario Guillo, Eric Courteille, Patrick Maurine, Lionel Leotoing, et al.. Off-line compensation of the tool path deviations on robotic machining : Application to incremental sheet forming. Robotics and Computer-Integrated Manufacturing, 2013, 29 (4), pp.58-69. ⟨10.1016/j.rcim.2012.10.008⟩. ⟨hal-00926215⟩