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

Gandjar Kiswanto, Muhammad Ramadhani Fitriawan, Fachryal Hiltansyah, Ramandika Garindra Putra, Christiand, Shabrina Kartika

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

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.

Original languageEnglish
Title of host publication2021 7th International Conference on Mechatronics and Robotics Engineering, ICMRE 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages156-163
Number of pages8
ISBN (Electronic)9780738132051
DOIs
Publication statusPublished - 3 Feb 2021
Event7th International Conference on Mechatronics and Robotics Engineering, ICMRE 2021 - Virtual, Budapest, Hungary
Duration: 3 Feb 20215 Feb 2021

Publication series

Name2021 7th International Conference on Mechatronics and Robotics Engineering, ICMRE 2021

Conference

Conference7th International Conference on Mechatronics and Robotics Engineering, ICMRE 2021
Country/TerritoryHungary
CityVirtual, Budapest
Period3/02/215/02/21

Keywords

  • forward kinematic
  • inverse kinematics
  • micromilling
  • robot manipulators
  • tool wear

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