Kinematic calibration and data-based error compensation of a parallel robot-based incremental sheet forming machine

Shuheng Liao, Kornel Ehmann, Jian Cao*

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish (US)
Title of host publication2020 International Symposium on Flexible Automation, ISFA 2020
PublisherAmerican Society of Mechanical Engineers (ASME)
ISBN (Electronic)9780791883617
DOIs
StatePublished - 2020
Event2020 International Symposium on Flexible Automation, ISFA 2020 - Virtual, Online
Duration: Jul 8 2020Jul 9 2020

Publication series

Name2020 International Symposium on Flexible Automation, ISFA 2020

Conference

Conference2020 International Symposium on Flexible Automation, ISFA 2020
CityVirtual, Online
Period7/8/207/9/20

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Systems Engineering

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