Development of Robotic Arm Manipulator Mechanical System for Micromilling Tool Wear Monitoring Based on Computer Vision

Tool wear is a major problem in the manufacturing industry during the machining process because the tool wear has become a major influence on the quality of production. There are two tool wear monitoring methods, direct and indirect, direct tool wear monitoring is a method by measuring the level of tool wear directly on the machining process. This Research use assistance from a robotic arm manipulator as a tool for monitoring tool wear with the direct tool wear monitoring method. This research develops a manipulator system as an inspection device, which has a function of moving Dinolite as a visualization device in monitoring tool wear. This research designs mechanical systems of the manipulator, mechanical structures, kinematics and dynamics of the manipulator, and testing of the accuracy and repeatability of the system. The inverse kinematics and forward kinematics are using the Denavit-Hartenberg parameter. To find the end effector speed the Jacobian Matrix equation was used, where the function of the Jacobian Matrix was used in determining the equation torque of each joint. The output of this research is the manipulator system as a device for monitoring tool wear in the micro-milling process. Based on the research, the error value of the compensation results for joints 1, 2 and 3 were-0,007%, 0,001%, and 0,016%. There is also the repeatability value of the manipulator that is equal to an average of 0,307.