Dariusz Szybicki

Robotic Automation of the Turbo-Propeller Engine Blade Grinding Process

Robotic automation of industrial processes in terms of the adaptation of the robot path to changing external conditions has recently been one of the main subjects of research and implementation studies. The presented study involved trailing plane grinding the turbine blades. The suggested automated station comprises an IRB 140 robot handling the processed element, grinding tool and an IRB 1600 robot with a 3D scanning head installed. The presented robotic automation solutions may be used for finishing operations on blades constituting elements of aircraft engines, power generating turbines and wind turbines.

The application of virtual prototyping methods to determine the dynamic parameters of mobile robot

Abstract The paper presents methods used to determine the parameters necessary to build a mathematical model of an underwater robot with a crawler drive. The parameters present in the dynamics equation will be determined by means of advanced mechatronic design tools, including: CAD/CAE software andMES modules. The virtual prototyping process is described as well as the various possible uses (design adaptability) depending on the optional accessories added to the vehicle. A mathematical model is presented to show the kinematics and dynamics of the underwater crawler robot, essential for the design stage.

Optimization of Process Parameters of Edge Robotic Deburring with Force Control

Abstract The issues addressed in the paper present a part of the scientific research conducted within the framework of the automation of the aircraft engine part manufacturing processes. The results of the research presented in the article provided information in which tolerances while using a robotic control station with the option of force control we can make edge deburring.

Determination of Dynamic Parameters for Underwater Robots with Crawler Drives

The paper presents methods used to determine the parameters necessary to build a mathematical model of an underwater inspection robot with a crawler drive. The parameters present in the dynamics equation will be determined by means of advanced mechatronic design tools, including: CAD/CAE software and MES modules. The robot dynamics are described by means of type II Lagrange equations for a non-holonomic system. The details of the kinetic and dynamic equation derivation are highly complex and exceed the scope of this paper. In this paper, the authors concentrate on the methods of determining such dynamic equation parameters as: hydrodynamic resistance factor, precise robot volume and weight, frontal cross-sectional surface and mass moments of inertia.

Experimental Study of Inconel 718 Surface Treatment by Edge Robotic Deburring with Force Control

We present the results of investigations into the application of robotics for deburring and chamfering to a predefined geometric quality. The robotic application was used for a part of the manufacturing process of an aircraft engine detail. Aircraft engine diffuser machining requires manual deburring of many edges. Finishing by hand results in several non-conforming quality details for each diffuser. This paper presents the concept of edge deburring with a controlled force progression pneumatic tool. A specific methodology was used to select and optimise the edge deburring process for robotic chamfering processing to a finer machining tolerance. The investigated machining process included a measurement system for the determination of the manufactured chamfer as a function of contact forces with feed force progression. The investigation work discussed in the paper helped to identify a specific interval of processing parameters, including the contact force and TCP motion velocity at which deburring is effective and a chamfer with specific geometric tolerance is produced. The experimental part of the investigation was conducted at a preset feed force of the high-speed machining file, tool ref. FDB150. The experimental machining sample was made from poorly machinable titanium alloy (Inconel 718), a material applied in the aerospace industry. The machining process optimisation included an approximation of the chamfer width definition points. The resulting function provided a derivative, defining the chamfer value change rate and corresponding to the actual machining tool infeed. The experimental measurement results were compared to the assumed quality indicators, by which a group of suboptimal parameters was defined.

Robot-operated quality control station based on the UTT method

Abstract This paper presents a robotic test stand for the ultrasonic transmission tomography (UTT) inspection of stator vane thickness. The article presents the method of the test stand design in Autodesk Robot Structural Analysis Professional 2013 software suite. The performance of the designed test stand solution was simulated in the RobotStudio software suite. The operating principle of the test stand measurement system is presented with a specific focus on the measurement strategy. The results of actual wall thickness measurements performed on stator vanes are presented.

MONITORING THE PARAMETERS OF THE ROBOT-OPERATED QUALITY CONTROL PROCESS

The robotic test stations of the considered design, operated at industrial plants, must first perform the processes and tasks they have been intended for as required by manufacturing cost reduction. It is important that these processes are completed at minimum power consumption. The paper presents the process of system parameter selection for minimised power consumption with the example of an actual robotic test stand built for manufacturing quality control of stators. The developed solutions were tested on a real-life object and deployed on the measurement test stand.

Verification hybrid control of a wheeled mobile robot and manipulator

Abstract In this article, innovative approaches to realization of the wheeled mobile robots and manipulator tracking are presented. Conceptions include application of the neural-fuzzy systems to compensation of the controlled system’s nonlinearities in the tracking control task. Proposed control algorithms work on-line, contain structure, that adapt to the changeable work conditions of the controlled systems, and do not require the preliminary learning. The algorithm was verification on the real object which was a Scorbot - ER 4pc robotic manipulator and a Pioneer - 2DX mobile robot.

Verification of the Mathematical Model for an Underwater Crawler Robot

This paper presents the mathematical and structural model as well as the verificationof a designed and built underwater crawler robot. The underwater crawler robot is designed to inspect elements of the water supply infrastructure, including pools, reservoirs and pipelines with round or square cross-sections. The virtual prototyping process is described as well as the various possible uses (design adaptability) depending on the optional accessories added to the vehicle. A mathematical model is presented to show the kinematics and dynamics of the underwater crawler robot, essential for the design stage. The mathematical model was used for a number of simulations and subjected to verification on a real object in two test environments.