• Journal of Institute of Control, Robotics and Systems
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• v.15 no.7
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• pp.728-733
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• 2009

This paper presents the compensation of mechanical deflection error in SCARA robot. End of robot gripper is deflected by weight of arm and pay-load. If end of robot gripper is deflected constantly regardless of robot configuration, it is not necessary to consider above mechanical deflection error. However, deflection in end of gripper varies because that moment of each axis varies when robot moves, it affects the relative accuracy. I propose the compensation method of deflection error using neural network. FEM analysis to obtain the deflection of gripper end was carried out on various joint angle, the results is used in neural network teaming. The result by simulation showed that maximum relative accuracy reduced maximum 9.48% on a given working area.

• Journal of the Korean Society of Mechanical Technology
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• v.13 no.3
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• pp.7-16
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• 2011

This study proposes the compensation method for the mechanical deflection error of a SCARA robot. While most studies on the related subject have dealt with the development of a control algorithm for improvement of robot accuracy, this study presents the control method reflecting the mechanical deflection error which is predicted in advance. The deflection at the end of the gripper of SCARA robot is caused by the self-weights and payloads of Arm 1, Arm 2 and quill. If the deflection is constant even though robot's posture and payload vary, there may not be a big problem on robot accuracy because repetitive accuracy, that is relative accuracy, is more important than absolute accuracy in robot. The deflection in the end of the gripper varies as robot's posture and payload change. That's why the moments $M_x$, $M_y$ and $M_z$ working on every joint of a robot vary with robot's posture and payload size. This study suggests the compensation method which predicts the deflection in advance with the variations in robot's posture and payload using neural network. To do this, I chose the posture of robot and the payloads at random, found the deflections by the FEM analysis, and then on the basis of this data, made compensation possible by predicting deflections in advance successively with the variations in robot's posture and payload through neural network learning.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.2
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• pp.189-198
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• 1997

This paper presents development of a practical tool deflection compensation system in order to reduce the machining error from the tool deflection compensation system in order to reduce the machining error from the tool deflection in the end-milling process. The devised system is a tool adapter which includes 1-axes force sensor for detecting tool deflection and 2-axes tool tilting device for adjusting tool position through computer interface on line process. Experimental in investigations for typical shaped workpieces representing various end milling situations are performed to verify the ability of the system to suppress the surface errors due to tool deflections. With the system, it is possible to get precise machining surface without any excessive machining error due to increased cutting force in more productive machining conditions.

• Journal of the Korean Society of Industry Convergence
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• v.5 no.4
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• pp.373-378
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• 2002

This paper presents a method to predict tool deflection induced by the thermal distribution and the cutting force using FEM in milling operation. The thermal distribution of cutting tool was predicted using FEM after measuring the temperature of the end of tool and of the tool holder. The thermal deflection of cutting tool was predicted using FEM as well. The tool deflection induced by the cutting force was analyzed with the solid model of cutting tool. An end mill tool caused most of tool deflection comparing to tool holder. Most of thermal deflection came from Z-direction and most of tool deflection induced by the cutting force came from X and Y direction. Precision cutting will be accomplished when tool locations are generated considering the thermal deflection of cutting tool and the tool deflection induced by the cutting force in CAD/CAM.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.37 no.7
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• pp.833-839
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• 2013

In this study, an experiment was performed to monitor the two-dimensional shape of a cantilever composite structure using fiber Bragg grating (FBG) sensors. To monitor the shape of a composite structure, a deflection equation developed by NASA was applied and a composite beam attached to three FBG sensors was used. In the experiment, the shape of the composite beam was successfully estimated and an error was evaluated by comparing a real deflection. The error increased with real deflection; therefore, it was compensated by using the linear relationship between the error and the real deflection. After compensating the error, the measured deflection shows good agreement with the real deflection. Finally, the experiment shows that the FBG sensor and the deflection equation are suitable for monitoring the deflection curve of the beam structure with compensation of the error.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.10a
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• pp.781-785
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• 2005

Cutting forces and tool deflection in end milling are represented as the closed form of tool rotational angle and cutting conditions. The discrete cutting forces caused by tool entry and exit are continued using the Fourier series expansion. Tool deflection is predicted by direct integration of the distributed loads on cutting edges. Cutting conditions, tool geometry, run-outs and the stiffness of tool clamping pan are considered for cutting forces and tool deflection estimation. Compared to numerical methods, the presented method has advantages in short prediction time and the effects of feeding and run-outs on cutting forces and tool deflection can be analyzed quantitatively. This research can be effectively used in real time machining error estimation and cutting condition selection for error minimization since the ferm accuracy is easily predicted by tool deflect ion curve.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.12
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• pp.34-40
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• 2000

• Journal of the Korean Society for Precision Engineering
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• v.26 no.5
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• pp.104-111
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• 2009

A ship engine operator should compensate the crankshaft assembly of ship engine after inspecting crankshaft deflection error in the crank throw regularly to avoid engine vibration and abrasions. In the previous method, the operator enters the bed plate and measures crankshaft deflection using dial gauge on rotating crankshaft manually. However, this method can cause dangerous situation to the operator as well as uncomfortable in an inferior environment. In order to solve the problems, this paper studies the method which makes the operator measure the error outside of the bed plate. In this paper, it is suggested that BlueTooth wireless communication transfers the error data to the outer standing operator with digitalized crankshaft deflection inspection device developed in this paper. So, the wireless measurement system is developed and applied to a medium-speed marine engine through size-miniaturization. After applying test, the developed inspection device showed that it provides much safe and ease inspection method. Furthermore, in the result, the measuring accuracy is more improved.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1998.10a
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• pp.204-209
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• 1998

The acceleration of the performance of machine tools influences the development of the semi-conductor and optical technology as the development of NC and measurement technology. We can mention that a traction role of the acceleration for the development like that depends on the development of the measurement technics Stylus instrument method, STM, SEM, Laser interferometer method which are used for measuring the quasi-static error of machine tools. Because the measurement has been done to unload condition without considering of mechanical stiffness in the case of machining center as we measure the quasi-static error of machine tools on general studies, people who works on the spot has many problems on the data value. Therefor we will help working more accurately on the spot by measuring, analyzing, displaying the deflection of the table and support shaft when we load on the table and the support shaft of machining center using laser interferometer. Also we try to settle new conception of the measurement method and more accurate grasp of the deflection tendency by verifing the tendency of the error measured through the comparison of the simulated error using ANSYS, a common finite element analysis program, which is able to measure heat deformation, material deformation, and error resulted form this study.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2311-2318
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• 2005

Progress in the LCD industries has been very rapid. Therefore, their manufacturing lines require larger LCD glass-handling robots and more precise path control of the robots. In this paper, we present two practical advanced algorithms for high-precision path generation of an LCD glass-handling robot. One is high-precision path interpolation for continuous motion, which connects several single motions and is a reliable solution for a short robot cycle time. We demonstrate that the proposed algorithm can reduce path error by approximately 91% compared with existing algorithms without increasing cycle time. The second is real-time static deflection compensation, which can optimally compensate the static deflection of the handling robot without any additional sensors, measurement instruments or mechanical axes. This reduces vertical path error to approximately 60% of the existing system error. All of these algorithms have been commercialized and applied to a seventh-generation LCD glass-handling robot.