Benoit Furet

A new versatile in-process monitoring system for milling

Tool condition monitoring (TCM) systems can improve productivity and ensure workpiece quality, yet, there is a lack of reliable TCM solutions for small-batch or one-off manufacturing of industrial parts. TCM methods which include the characteristics of the cut seem to be particularly suitable for these demanding applications. In the first section of this paper, three process-based indicators have been retrieved from literature dealing with TCM. They are analysed using a cutting force model and experiments are carried out in industrial conditions. Specific transient cuttings encountered during the machining of the test part reveal the indicators to be unreliable. Consequently, in the second section, a versatile in-process monitoring method is suggested. Based on experiments carried out under a range of different cutting conditions, an adequate indicator is proposed: the relative radial eccentricity of the cutters is estimated at each instant and characterizes the tool state. It is then compared with the previous tool state in order to detect cutter breakage or chipping. Lastly, the new approach is shown to be reliable when implemented during the machining of the test part.

A methodology for joint stiffness identification of serial robots

This paper presents a new methodology for joint stiffness identification of serial robots. This methodology aims at evaluating all joint stiffness values responsible for both translational and rotational displacements of the robot end-effector subject to an external wrench (force and torque). The links of the robot are supposed to be quite stiffer than the joints and not known as it is usually the case with industrial serial robots. The robustness of the identification method and the sensitivity of the results to measurement errors and number of experimental tests are also analyzed. The Kuka KR240-2 robot is used as an illustrative example through the paper.

Influence of High-Pressure Coolant Assistance on the Machinability of the Titanium Alloy Ti555–3

The origin of this article is the quantification of productivity gains and the improvement in surface integrity seen for a recent titanium alloy that is seeing increasing use in the aeronautical industry. The Ti555–3 titanium alloy, which is starting to find greater application in the aeronautical field, exhibits certain difficulties in terms of machining. High Pressure Coolant (HPC) assisted turning consists of projecting a high pressure coolant jet between the chip and the tool. Comparisons are made between assisted turning using variable jet pressure and conventional turning (dry and classical lubrication). It is shown that it is possible to improve productivity by using HPC-assisted machining. The results highlight good chip fragmentation and a great improvement of tool life with HPC assistance. Surface integrity is also shown to be improved, through surface roughness parameters that decrease, and surface residual stresses that become more compressive. These effects have been attributed to the thermo-mechanical action of the coolant jet resulting in lower cutting forces, lower coefficient of friction and lower temperature in the cutting zone.

Workpiece Placement Optimization of Six-Revolute Industrial Serial Robots for Machining Operations

Roboticists are faced with new challenges in robotic-based manufacturing. Up to now manufacturing operations that require both high stiffness and accuracy have been mainly realized by using computer numerical control machine tools. This paper aims to show that manufacturing finishing tasks can be performed with robotic cells knowing the process cutting phenomena and the robot stiffness throughout its Cartesian workspace. n nIt makes sense that the finishing task of large parts would be cheaper with robots. However, machining robots have not been adapted for such operations yet. As a consequence, this paper introduces a methodology that aims to determine the best placement of the workpiece to be machined knowing the cutting forces exerted on the tool and the elastostatic model of the robot. In this vein, a machining quality criterion is proposed and an optimization problem is formulated. The KUKA KR270-2 robot is used as an illustrative example throughout the paper.

Experimental Study of tool Wear Mechanisms in Conventional and High Pressure Coolant Assisted Machining of Titanium Alloy Ti17

Titanium alloys are known for their excellent mechanical properties, especially at high temperature. But this specificity of titanium alloys can cause high cutting forces as well as a significant release of heat that may entail a rapid wear of the cutting tool. To cope with these problems, research has been taken in several directions. One of these is the development of assistances for machining. In this study, we investigate the high pressure coolant assisted machining of titanium alloy Ti17. High pressure coolant consists of projecting a jet of water between the rake face of the tool and the chip. The efficiency of the process depends on the choice of the operating parameters of machining and the parameters of the water jet such as its pressure and its diameter. The use of this type of assistance improves chip breaking and increases tool life. Indeed, the machining of titanium alloys is generally accompanied by rapid wear of cutting tools, especially in rough machining. The work done focuses on the wear of uncoated tungsten carbide tools during machining of Ti17. Rough and finish machining in conventional and in high pressure coolant assistance conditions were tested. Different techniques were used in order to explain the mechanisms of wear. These tests are accompanied by measurement of cutting forces, surface roughness and tool wear. The Energy-dispersive X-ray spectroscopy (EDS) analysis technique made it possible to draw the distribution maps of alloying elements on the tool rake face. An area of material deposition on the rake face, characterized by a high concentration of titanium, was noticed. The width of this area and the concentration of titanium decreases in proportion with the increasing pressure of the coolant. The study showed that the wear mechanisms with and without high pressure coolant assistance are different. In fact, in the condition of conventional machining, temperature in the cutting zone becomes very high and, with lack of lubrication, the cutting edge deforms plastically and eventually collapses quickly. By contrast, in high pressure coolant assisted machining, this problem disappears and flank wear (VB) is stabilized at high pressure. The sudden rupture of the cutting edge observed under these conditions is due to the propagation of a notch and to the crater wear that appears at high pressure. Moreover, in rough condition, high pressure assistance made it possible to increase tool life by up to 400%.

Optimization of measurement configurations for geometrical calibration of industrial robot

The paper is devoted to the geometrical calibration of industrial robots employed in precise manufacturing. To identify geometric parameters, an advanced calibration technique is proposed that is based on the non-linear experiment design theory, which is adopted for this particular application. In contrast to previous works, the calibration experiment quality is evaluated using a concept of the user-defined test-pose. In the frame of this concept, the related optimization problem is formulated and numerical routines are developed, which allow user to generate optimal set of manipulator configurations for a given number of calibration experiments. The efficiency of the developed technique is illustrated by several examples.

Industry-Oriented Performance Measures for Design of Robot Calibration Experiment

The paper focuses on the accuracy improvement of geometric and elasto-static calibration of industrial robots. It proposes industry-oriented performance measures for the calibration experiment design. They are based on the concept of manipulator test-pose and referred to the end-effector location accuracy after application of the error compensation algorithm, which implements the identified parameters. This approach allows the users to define optimal measurement configurations for robot calibration for given work piece location and machining forces/torques. These performance measures are suitable for comparing the calibration plans for both simple and complex trajectories to be performed. The advantages of the developed techniques are illustrated by an example that deals with machining using robotic manipulator.

Comparision and Analisys of In-Process Tool Condition Monitoring Criterions in Milling

Even with the best process design, incidents may still occur during machining. Considerable damages for the product and the machine-tool, may then be involved by the high feeds currently used. Therefore, process monitoring is suitable to ensure both product quality and process safety. Yet there is a lack of process monitoring solutions for small batch sizes or one-off production, which usually concerns high added value parts. Researchers have proposed various criterions to detect tool breakage, based on the milling force waveform. Our work aimed at estimating the relevancy of these criterions by machining a specific part under various cutting conditions. Criterions are compared and analyzed according to the measured cutting force signals. Then, improvements are suggested in order to increase their efficiency.