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Journal
PROCEEDINGS
IN MANUFACTURING SYSTEMS
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Volume 10, Issue 4, 2015
Contents
●
Adrian-Florin NICOLESCU, Florentin-Marian ILIE, Tudor-George ALEXANDRU
Forward and inverse kinematics study of industrial
robots taking into account constructive and functional parameter's modeling
● Constantin SANDU, Adrian GHIONEA, Ionuţ
GHIONEA, Daniela CIOBOATĂ
Contributions to optimization of part program in processing
and mesurement phases of wheelset running profile
● George CONSTANTIN, Nicolae PREDINCEA
Aspectes regarding optimal design of machine tool feed
drives
● Georgia-Cezara AVRAM, Florin-Adrian
NICOLESCU, Andrei IVAN and Mihai BOLDA
Hybrid palletizing system with gantry robots for orienting the objects and articulated robot for overall layer
handling
● Andrei Mario IVAN, Adrian Florin NICOLESCU, Georgia
Cezara AVRAM and Liliana STAN
Robotic deburring cell virtual prototyping
● Florea Dorel ANANIA, Claudiu Florinel BISU, Miron Zapciu, Andra Elena
PENA
Advanced parameterization of CAD-CAM process for machining
rail wheels on a lathes
FORWARD AND INVERSE
KINEMATICS STUDY OF INDUSTRIAL ROBOTS TAKING INTO ACCOUNT CONSTRUCTIVE AND FUNCTIONAL
PARAMETER'S MODELING
Adrian-FlorinNICOLESCU1,*,
Florentin-Marian ILIE2, Tudor-George ALEXANDRU3
1) Prof. PhD., Department of Machines and Manufacturing Systems,
University "Politehnica" of Bucharest, Romania
2) Eng., Student, Department of Machines and Manufacturing Systems,
University "Politehnica" of Bucharest, Romania
3) Eng., Student, Department of Machines and Manufacturing Systems,
University "Politehnica" of Bucharest, Romania
Abstract: Forward
and inverse kinematic studies of
industrial robots (IR) have been developed and presented in a large number of
papers. However, even general mathematic formalization is usually almost
correct, (basically following up general Hartenberg - Denavit (H-D)
conventions and associated homogenous transformation matrix), only few papers
presents kinematic models ready to be directly implemented on a real scale
industrial robot or as well able to evaluate kinematics behavior of a real
scale IR specific model. That is usually due to some inconsistencies in
modeling, the most frequently of these referring on: the incomplete
formalization of the full set of constructive and functional parameters (that
mandatory need to be considered in case of a specific real IR's model),
avoidance of considering IR's specific design features, (as joint dimensions
and links dimensions are) leading to wrongly locating the reference frames
used for expressing homogenous coordinate transformations, as well as missing
of the validation procedures able to check the correctitude of the
mathematical models, previously to its implementing in a real scale IR's
controller. That is why present paper shows first a completely new approach
for IR's forward an inverse kinematics, in terms of IR's analytical modeling
by taking into account the full set of IR's constructive and functional
parameters of two different IR's models. Then, for both direct and inverse
mathematical models complete symbolic formalization and full set of solutions
for forward and inverse kinematics are presented for both IR types. In order
to study mathematical models applicability on the real scale IR, two specific
IR models were studied: an ABB serial-link open chain kinematics IR and a
Fanuc serial-link closed chain kinematics IR. Numerical results were verified
by cross validation using both analytically calculations results and by mean
of a constrained 3D CAD model used to geometrically verify the results. The
parametric form of the model elaborated in PTC Mathcad 14 allows a quick
reconfiguration for other robot's models having similar configurations.
Results can be also used for solving dynamics, path planning and control
problems in case of real scale IR.
Key words: industrial robot, extended parametric modeling, homogenous
transformation matrix, forward kinematics, inverse kinematics.
CONTRIBUTIONS TO OPTIMIZATION OF PART PROGRAM
IN PROCESSING AND MESUREMENT PHASES
OF WHEELSET RUNNING PROFILE
Constantin SANDU1, Adrian GHIONEA2, Ionuţ GHIONEA3,*, Daniela CIOBOATĂ4
1) Assoc. Prof., PhD, Eng., Department of Machine and Manufacturing
Systems, University “Politehnica” of Bucharest, Bucharest,
Romania
2) Prof., PhD, Eng., Department of Machine and Manufacturing Systems, University
“Politehnica” of Bucharest, Bucharest, Romania
3) Lecturer, PhD, Eng., Department of Machine Manufacturing Technology, University
“Politehnica” of Bucharest, Bucharest, Romania
4) Senior researcher, PhD. Eng, The National Institute of
Research and Development in Mechatronics and Measurement Technique, Bucharest,
Romania
Abstract: The paper
presents the running profile features of the railway wheels, profile
representation and optimization possibilities in order to elaborate the part
program for processing the wheelsets by turning. The segments of the profile,
which require the analysis of the approximation error with line segments and
arcs, were highlighted. For this purpose, the research focused on achieving a small number of phrases in the part NC program.
The established methodology was applied to one of the standardized profiles.
In the paper values of applying this optimization methodology for a curved zone
of the profile are presented. The resulting data can be also useful for the
system of measuring and control of the profile after processing on the
machine tool. Thus, it is easily possible to determine the concordance
between the resulted deviations and the allowable ones required by the
standards. It is also presented a measurement system that can be integrated
in the machine-tool, resulting in a closed-loop measurement and
processing system.
Key words: railway wheel
sets, turning, running profile, parametric equations,
part program.
ASPECTES REGARDING OPTIMAL
DESIGN OF MACHINE TOOL FEED DRIVES
George CONSTANTIN1,*,
Nicolae PREDINCEA2
1) Prof., PhD, Machines and Manufacturing Systems Department, University
"Politehnica" of Bucharest, Romania
2) Prof., PhD, Machines and Manufacturing Systems Department, University
"Politehnica" of Bucharest, Romania
Abstract: The
paper presents some of the main aspects concerning the design of feed drives
of machine tools in optimum conditions. Some general considerations about the optimization vector including a
set of parameters are presented. Also the optimization vector is analyzed and
purpose function discussed, revealing the optimization vector as a favourable
one having a limited number of parameters. Starting from the dynamic equation
of the feed drives having as final mechanism the screw nut and pinion rack,
respectively, the relation of the reduced moment of inertia to the electric
motor rotor axis together with the expression of acceleration of the speed
are presented. For four cases of transmission between motor and final
mechanism in the feed drive, the relations of the optimum values for the
optimization parameters (gear ratios, belt transmission ration, screw pitch,
pinion diameter) are given. The problem of optimization is treated also by
considering the expression of rotor acceleration as a function of two
variables (where possible) and by finding its maximum together with the
optimum parameters. Finally, the CAD models for the studied cases are used to
obtain other information, such as the maximum torque supplied by the electric
motor in optimum conditions. All applications are considered for an
industrial project of refabrication of a machine for processing wheel set
running profiles by turning, especially the feed drives that become specific
for numerical control.
Key words: feed drive, dynamic equation, moment of inertia, acceleration,
parameters, optimization.
pp. 177-182
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full text
HYBRID PALLETIZING SYSTEM WITH
GANTRY ROBOTS FOR ORIENTING THE OBJECTS AND ARTICULATED ROBOT FOR OVERALL
LAYER HANDLING
Georgia-Cezara AVRAM 1, Florin-Adrian NICOLESCU2, *, Andrei IVAN3 and Mihai BOLDA4
1) Assistant Prof. PhD, Machines and Manufacturing Systems Department,
University "Politehnica" of Bucharest, Romania
2) Prof., PhD, Machines and Manufacturing Systems Department,
University "Politehnica" of Bucharest, Romania
3) Lecturer. PhD, Machines and Manufacturing Systems Department,
University "Politehnica" of Bucharest, Romania
4) Eng., Msc. Student, Machines and Manufacturing Systems Department,
University "Politehnica" of Bucharest, Romania
Abstract: The paper
presents works performed by the authors in the field of developing new
concepts and virtual prototyping new model of hybrid palletizing system.
Along development of the palletizing system virtual prototype in order for
achieving system layout optimization new concepts have been implemented. From
this point of view most important features have successively targeted
development of: the modular design of the whole system and its specific
subsystems / components, the implementation of two gantry robots for object
orienting along layer forming conveyor, the modular layer compacting system
integrated with the layer forming conveyor, the special end-effector for
overall layer manipulation by a high payload articulated arm robot, the
modular pallet stacking & dispensing system, the modular overall
conveying system for objects and pallets, and the modular pallet stretching
system.
Key words: Virtual prototyping, hybrid palletizing system, modular design, gantry
robot, articulated robot, overall layer handling, palletizing system layout
optimization.
pp. 183-188
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full text
ROBOTIC DEBURRING CELL
VIRTUAL PROTOTYPING
Andrei Mario IVAN 1,
Adrian Florin NICOLESCU 2,*,
Georgia Cezara AVRAM 3 and Liliana STAN4
1) Lect. PhD. eng., Machines and Manufacturing Systems Department,
Politehnica University of Bucharest, Romania
2) Prof. PhD. eng., Machines and Manufacturing Systems Department,
Politehnica University of Bucharest, Romania
3) Assistant PhD. eng., Machines and Manufacturing Systems Department,
Politehnica University of Bucharest, Romania
4) Eng., MA Student, Machines and Manufacturing Systems Department,
Politehnica University of Bucharest, Romania
Abstract: This
paper presents the works performed by the authors in the field of robotic
deburring applications. It describes the virtual prototyping and kinematic
analysis of a robotic cell developed for plastic parts deburring. The cell
layout includes a 6 degrees of freedom (DOF) articulated arm robot, a vacuum
gripper for work piece manipulation and a deburring end-effector with radial
compliance. The cell features one input and one output through two belt
conveyors. After designing the layout of the cell and developing the 3D
virtual prototype, the kinematic behavior of the robot, configurations and
collision occurrence were evaluated using DMU
Kinematics module inside CATIA V5 software.
Key words: industrial robot, deburring, manufacturing cell, 3D virtual
prototype, kinematics
pp. 189-194
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full text
ADVANCED PARAMETERIZATION OF
CAD-CAM PROCESS FOR MACHINING RAIL
WHEELS ON A LATHES
Florea Dorel ANANIA1,*,
Claudiu Florinel BÎȘU2, Miron ZAPCIU3, Andra Elena
PENA4
1) Lecturer, PhD, Machines and
Manufacturing Systems Department, University "Politehnica" of
Bucharest, Romania
2) Assoc. Prof., PhD, Machines and Manufacturing Systems Department,
University "Politehnica" of Bucharest, Romania
3) Prof., PhD, Machines and Manufacturing Systems Department,
University "Politehnica" of Bucharest, Romania
4) Lecturer, PhD, Machines and Manufacturing Systems Department,
University "Politehnica" of Bucharest, Romania
Abstract: In
this paper some aspects regarding advanced parameterization of a lathe
cutting process for a specialized field – rail wheel machining are presented.
A method was developed for obtaining an optimum NC file by taking into
account: design, machining technology aspects and machine dynamic behavior in
cutting process. Some correction coefficient and parameters for CAD, CAM and
postprocessors are defined based on the rail wheel dimension and machine
displacement. The next step consists of implementation of this method in
machining process for smart cutting.
Key words: CAD, CAM, dynamic behavior, machining, rail wheel.
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