ELFT HÍRADÓ

[Insperger Tamás <inspi AT mm.bme.hu>]

MEGHÍVÓ

Prof. Patric Maurine

Institut National des Sciences Appliquées
Rennes Cedex, France

Towards More Accurate Robots and Machines

címmel előadást tart

2008. április 23-án (szerda) 12:15 órakor

Az előadás helye: Műszaki Mechanikai Tanszék Könyvtára ("MM" épület I. 
em. 29).

Minden érdeklődőt szívesen látunk.


Abstract
CAD/CAM systems provide the necessary tools to perform realistic 
animations of robots and machine tools. However, these systems are not 
widely used for the off-line programming because they fail to generate 
trajectories that accurately depict those expected from actual machines 
within their environment. The gap existing between the programmed and 
real trajectories is due to different inaccuracy sources that affect the 
machine absolute accuracy. This loss of accuracy is due to various 
geometrical factors as the machine manufacturing tolerances but also to 
more complex non-geometrical effects as the bending of the structure 
components due to the load and the gravity; the backlashes in the 
joints, the deformations due to environment temperature variations...
In order to reduce this gap and thus to improve the robot and machine 
absolute accuracy, an economic solution to compensate for these effects 
is well known as Calibration. Calibration consists in parameter 
estimation of a virtual model that most accurately depicts an actual 
robot or machine within its work volume. Therefore calibration provides 
the trajectories obtained through off-line programming to fit with those 
really followed by robots and machines within their work cell.
The presentation we plan to do in Budapest focuses on the verification 
and the calibration of serial, hybrid and parallel kinematic machines 
which are nowadays involved in applications requiring a high absolute 
accuracy as machining tasks for example. The objective is to present the 
main results of the researches that have been conducted on the 
improvement of the machine accuracy within the “processes and 
manufacturing systems” research team of the INSA de Rennes (France). The 
presentation will focus on the elasto-geometrical modelling and 
calibration of serial, hybrid and parallel structures, the 
elasto-dynamic modelling and studies of machines as well as the analysis 
of their vibration behaviour.