Detection of Production Caused Errors of Freeform Surfaces with Robotic Arm Supported Laser Sensor

Abstract

In the manufacture of 3 dimensional parts, a method such as bridge type CMM, gantry type CMM and horizontal arm CMM is used to detect errors. The coordinate measuring machines used in the industry have high accuracy but have disadvantages such as high price and low speed. In this study, it is aimed to create an alternative to the measurement methods used in the industry. The errors that occur during the production of freeform surfaces metal parts are determined point by the laser sensor attached to the end of the robot arms. Three different variables are used for the measurements: the path of the robot arm, the number of points, and the reference distance of the laser sensor to the workpiece. Data from variables has been transferred to RobotStudio, experiments are simulated, and RAPID codes are obtained. The high-precision laser sensor is used to point-detect 27 experiment conditions. The results from the experiment conditions are compared to the CAD model of the workpiece and the errors in production are determined as micrometers (µm). The results are analyzed by graphs in MATLAB. It is observed that the.

Keywords

• Laser sensor
• robot arm
• freeform surface
• quality control.

Serbest Form Yüzeye Sahip Parçaların Üretim Nedenli Hata Miktarlarının Robot Kol Yardımlı Lazer Sensör ile Tespiti

Abstract

3 boyutlu parçaların imalatında, hata miktarlarının tespiti için köprü tip CMM, gantry tip CMM ve yatay kollu CMM gibi yöntem kullanılmaktadır. Endüstride kullanılan koordinat ölçüm cihazları yüksek hassasiyete sahip olmalarına rağmen yüksek fiyat ve düşük hız gibi dezavantajlara sahiptir. Bu çalışmada endüstride kullanılan ölçüm yöntemlerine alternatif oluşturmak amaçlanmaktadır. Serbest form yüzeye sahip metal parçaların imalatı sırasında gerçekleşen hata miktarları, robot kol üzerinde bulunan lazer sensör ile noktasal tespit edilmiştir. Ölçümler için robot kolun hareket şekli, lazer sensörün ölçüm aldığı nokta sayısı ve lazer sensörün iş parçasına olan referans uzaklığı olmak üzere 3 farklı değişken kullanılmıştır. Değişkenlere ait veriler RobotStudio ortamına aktarılmış, deneyler simülasyon motorunda incelenmiş ve deneylere ait RAPID kodları elde edilmiştir. Yüksek hassasiyete sahip lazer sensör ile 27 deney şartı için noktasal tespit yapılmıştır. Deneylerden elde edilen sonuçlar numunenin CAD modeli ile karşılaştırılıp, üretimde gerçekleşen hata miktarı mikrometre (µm) olarak tespit edilmiştir. Tespit edilen hata miktarları ise CMM cihazından alınan hata miktarları ile kıyaslanmıştır. Elde edilen sonuçlar MATLAB ortamında oluşturulan grafiklerle incelenmiştir. Nokta sayısının en az olduğu durumlarda standart sapmanın 54,51 ile 74,38 arasında değiştiği ve ölçümün daha homojen bir şekilde dağıldığı görülmüştür. Ortalama hata miktarının ise artan nokta sayısı ile doğru orantılı olduğu tespit edilmiştir. Bu çalışmada alternatif olarak sunulan yöntemin iyileştirilmesi durumunda, serbest form yüzeye sahip metaller için CMM cihazları yerine kullanılabilirliğini göstermektedir.

Keywords

• Lazer sensör
• robot kol
• serbest form yüzey
• kalite kontrol.

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