TY - GEN
T1 - Kinematic calibration and data-based error compensation of a parallel robot-based incremental sheet forming machine
AU - Liao, Shuheng
AU - Ehmann, Kornel
AU - Cao, Jian
N1 - Funding Information:
The authors acknowledge the support of this research by the Beijing Institute of Aeronautical Material forming on CNC machines," Journal of Materials Processing Technology, 152(2), pp. 176-184. [8] Kopac, J., and Kampus, Z., 2005, "Incremental sheet metal forming on CNC milling machine-tool," Journal of materials processing technology, 162, pp. 622-628. [9] Duflou, J., Callebaut, B., Verbert, J., and De Baerdemaeker, H., 2007, "Laser assisted incremental forming: formability and accuracy improvement," CIRP annals, 56(1), pp. 273-276. [10] Meier, H., Buff, B., Laurischkat, R., and Smukala, V., 2009, "Increasing the part accuracy in dieless robot-based incremental sheet metal forming," CIRP annals, 58(1), pp. 233-238. [11] Meier, H., Dewald, O., and Zhang, J., 2005, "Development of a robot-based sheet metal forming process," Steel research international, 76(2-3), pp. 167-170. [12] Zeng, Q., Ehmann, K. F., and Cao, J., 2014, "Tri-pyramid Robot: Design and kinematic analysis of a 3-DOF translational parallel manipulator," Robotics and Computer-Integrated Manufacturing, 30(6), pp. 648-657. [13] Li, F., Zeng, Q., Ehmann, K. F., Cao, J., and Li, T., 2019, "A calibration method for overconstrained spatial translational parallel manipulators," Robotics and Computer-Integrated Manufacturing, 57, pp. 241-254. [14] Moser, N. H., 2019, "Deformation Mechanisms and Process Planning in Double-Sided Incremental Forming," Ph.D. dissertation, Northwestern University, Evanston, IL. [15] Ren, H., Xie, J., Liao, S., Leem, D., Ehmann, K., and Cao, J., 2019, "In-situ springback compensation in incremental sheet forming," CIRP Annals, 68(1), pp. 317-320.
PY - 2020
Y1 - 2020
N2 - Incremental sheet forming is a state-of-the-art manufacturing process for the rapid manufacture of sheet metal components without the use of geometry-specific dies. In this paper, a novel ISF machine, based on a unique overconstrained parallel robot called the Tri-pyramid robot, is introduced. The inverse and forward kinematics of the machine are first analyzed and calibrated based on experimental measurements. In turn, to compensate the kinematic and compliance errors of the machine, a linear encoder system, developed to directly measure the end-effector positions, in conjunction with a neural network, trained to map encoder readings and spatial end-effector positions, is used. A feedback control law is then implemented to compensate the errors in real-time. Experimental results demonstrate that after calibration and error compensation the accuracy of the machine is improved tenfold, making it adequate for incremental forming applications.
AB - Incremental sheet forming is a state-of-the-art manufacturing process for the rapid manufacture of sheet metal components without the use of geometry-specific dies. In this paper, a novel ISF machine, based on a unique overconstrained parallel robot called the Tri-pyramid robot, is introduced. The inverse and forward kinematics of the machine are first analyzed and calibrated based on experimental measurements. In turn, to compensate the kinematic and compliance errors of the machine, a linear encoder system, developed to directly measure the end-effector positions, in conjunction with a neural network, trained to map encoder readings and spatial end-effector positions, is used. A feedback control law is then implemented to compensate the errors in real-time. Experimental results demonstrate that after calibration and error compensation the accuracy of the machine is improved tenfold, making it adequate for incremental forming applications.
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U2 - 10.1115/ISFA2020-9622
DO - 10.1115/ISFA2020-9622
M3 - Conference contribution
AN - SCOPUS:85092671858
T3 - 2020 International Symposium on Flexible Automation, ISFA 2020
BT - 2020 International Symposium on Flexible Automation, ISFA 2020
PB - American Society of Mechanical Engineers (ASME)
T2 - 2020 International Symposium on Flexible Automation, ISFA 2020
Y2 - 8 July 2020 through 9 July 2020
ER -