Browse Topic: Advanced manufacturing

Items (857)
This document will contain guidance and considerations for the use of composite materials on non-primary structure for landing gear systems. Content to include design considerations, conditions and applications where composites are feasible/beneficial, high-level descriptions of various manufacturing processes, and certification/validation considerations.
A-5B Gears, Struts and Couplings CommitteeNEW
This information report provides general guidance for the design considerations, qualification in endurance, strength and fatigue of landing gear using composite components as principle structural elements. The information discussed herein includes the development and evaluation of design data considering: the potential for imbedded manufacturing defects, manufacturing process variations, the component operating environment, potential damage threats in service, rework and overhaul, and inspection processes. This AIR mainly discusses the use of thick composites for landing gear structural components. Considerations and recommendations provided in this AIR may therefore differ greatly from considerations and recommendations found in widely accepted composite design references such as CMH-17 and Advisory Circulars such as AC 20-107(B).
A-5B Gears, Struts and Couplings CommitteeNEW
Hybrid additive manufacturing (AM) and subtractive manufacturing (SM) processes utilize the combination of AM (e.g., LPBF and DED) and SM (e.g., milling and turning operations) to produce the final part. Due to the poor surface roughness resulting from the uneven melting of powders in AM, the subtractive process is a necessary finishing operation to improve the surface roughness of the AM part. The hybrid AM/SM technology combines the benefits of AM and SM processes to create complex geometry while introducing good surface finish and compressive stress to prevent crack initiation. However, the relationship between large process parameter space and the residual stress/distortion in the part is not well understood, which impedes the adoption of hybrid AM/SM to minimize the residual stress in the final product. To expedite the process optimization, we establish a pipeline for the sequential modeling of additive manufacturing (AM) and subtractive manufacturing (SM) processes. Key accomplishments achieved under this study include (1) development of thermal abstraction technique for the AM process to speed up the macroscale level heat transfer analysis based on the manufacturing factors including scanning vector, laser power, dwelling time, etc.; (2) development of the sequentially coupled thermal-mechanical model to predict the residual stress and distortion after AM process by passing the temperature history obtained from heat transfer analysis to the mechanical analysis at each time point; (3) validation of the thermal-mechanical model for AM using thin-wall structure from literature and cantilever beam structure from UNT’s experiments data; (4) conduction of the parametric study on the chamber temperature and part design in the AM process to demonstrate how the temperature gradient and supporting structure affect the residual stress and distortion; (5) exploration of macro and micro scale models to predict the bulk and surface residual stress after cutting; (6) applying the developed modeling framework to tailoring the hybrid AM/SM process. To support model verification and demonstration, we print cantilever beam structure with different supporting structure designs and cutting strategies to study how these factors affect the final part residual stress and distortion. The data collected in the printing and cutting process is used to examine the applicability of the developed simulation tool.
Lua, JimLi, RuiRajanna, ManojHaridas, Ravi SankarMishra, Rajiv
Helicopter pilots are exposed to a wide range of vibration frequencies, primarily generated by engine and rotor dynamics. These vibrations, particularly within the 0.5–80 Hz range, pose significant risks to pilot health, including musculoskeletal injuries and fatigue. To mitigate these effects, vibration isolators are employed, with passive and active isolation systems offering different advantages. This study investigates the initial design and performance of a novel metal additive manufactured vibration isolator, optimized for placement under the pilot's seat in a rotorcraft simulator. The isolator was designed with key structural parameters including stiffness, coil dimensions, and material properties while maintaining a lightweight and durable form, with a primary goal of validating the additive manufacturing of a metallic isolator. Experimental corroboration was conducted by incorporating modifications to the Gannon Biomechanics Flight Simulator test stand (GBFS), comparing the novel isolator to an elastomeric isolator. Results demonstrate the successful fabrication of the initial additive isolator design. The additive isolator displayed a similar performance to the rubber isolator after being installed in the GBFS, though limitations on the current test rig and sensing configuration did not allow accurate characterization of the transmissibility. This research sets the groundwork for further development of a novel additive isolator and test facility.
Arzalluz, IratiJi, XiaoxuPiovesan, DavideMarr, Conor
Maintaining the operational readiness of military helicopters demands repair solutions that are fast, reliable, and adaptable. This paper presents the integration of Gamma Alloys' advanced metal matrix composites (MMCs) into additive manufacturing (AM) techniques - specifically Cold Spray and Friction Stir Additive Manufacturing (FSAM) - as a transformative approach to helicopter repair and replace for the US Army.
Peabody, MicahHarrigan, William
Abstract Triply periodic minimal surface (TPMS) structure, demonstrates significant advantages in vehicle design due to its excellent lightweight characteristics and mechanical properties. To enhance the mechanical properties of TPMS structures, this study proposes a novel hybrid TPMS structure by combining Primitive and Gyroid structures using level set equations. Following this, samples were fabricated using selective laser sintering (SLS). Finite element models for compression simulation were constructed by employing different meshing strategies to compare the accuracy and simulation efficiency. Subsequently, the mechanical properties of different configurations were comprehensively investigated through uniaxial compression testing and finite element analysis (FEA). The findings indicate a good agreement between the experimental and simulation results, demonstrating the validity and accuracy of the simulation model. For TPMS structures with a relative density of 30%, meshing with S3R elements proved optimal. Unlike the deformation modes of Gyroid and Primitive structures, in hybrid structures, deformation and yielding occur in the lower-middle part of the component. Then, the deformation extends upward, eventually leading to the compaction of the component. Notably, the hybrid structure demonstrated a 34.9% and 8.8% increase in specific energy absorption compared to the Primitive and Gyroid structures, respectively. Additionally, the mean crushing force of the hybrid structure improved by 44.25% and 6.9%, respectively. The load-carrying fluctuation capacity of the hybrid structure was less than 11%, indicating good energy absorption efficiency. This study underscores the potential of hybrid TPMS structures to significantly enhance the mechanical performance of vehicle components, contributing to advancements in lightweight design and crashworthiness.
Tang, HaiyuanXu, DexingSun, XiaowangWang, XianhuiWang, LiangmoWang, Tao
In the proposed article, the authors will focus on two manufacturing method FUSED FILAMENT FABRICATION (FFF) and FUSED DEPOSITION MODELING (FDM) showing examples of application in aviation production and the resulting benefits.
Banaś, AleksanderBurczy, KamilWojtuszewski, RadosławGłodzik, MarcinGałaczyński, Tomasz
This paper presents the design and development of a swashplateless micro helicopter with a target endurance of more than 30 minutes using an optimized direct drive rotor connected to a unique rotor hub that has blades with a flap hinge and proprietary skewed-lag hinge with pitch-lag kinematic coupling. This obviates the need for conventional swashplate based cyclic pitch control, as the cyclic variation in control angle is achieved by cyclically varying the motor RPM. UP12 underactuated propulsion system developed by VertiQ is used for the baseline design. The blades in this propulsion system are optimized using Blade Element Momentum Theory (BEMT) analysis with lookup table to enhance its performance. BEMT is validated using experimental measurements and then used to optimize the geometry of the rotor. The optimized blades offer better performance and are 30% lighter than the original 3D-printed plastic blades. The prototyping of the Micro Aerial Vehicle (MAV) is completed by fabricating the airframe and using off-the-shelf electronic components. Tabletop tests are carried out using a yawing test stand to tune the yaw attitude gains for the MAV. A coupled flap-lag rotor dynamics is combined with the motor angular speed dynamics to simulate the dynamics of the system to carry out fundamental understanding of the control power being generated by the swashplateless system. The swashplateless rotor design is able to generate significant propulsive and side forces, however it is unable to generate control moments which may be inadequate for aggressive maneuvering warranted by small agile MAV.
Bhatnagar, KirtiAbhishek, AbhishekArya, BidhanBansal, Divyanshi
This specification covers an aluminum alloy in the form of pre-alloyed powder.
AMS AM Additive Manufacturing Metals
This specification establishes process controls for the repeatable production of preforms/parts using the laser directed energy deposition (L-DED-) process for additive manufacturing. Preforms are intended to be used to manufacture aerospace parts, but usage is not limited to such applications. Feedstock may be either wire (for L-DED-Wire) or powder (for L-DED-Powder).
AMS AM Additive Manufacturing Metals
This specification covers a titanium alloy in the form of pre-alloyed powder.
AMS AM Additive Manufacturing Metals
This practice provides recommendations concerning the chemical milling of aluminum, magnesium, high temperature nickel alloys, titanium alloys, copper alloys, and specialty alloys.
AMS B Finishes Processes and Fluids Committee
This specification covers an aluminum alloy in the form of pre-alloyed powder.
AMS AM Additive Manufacturing Metals
This specification covers a corrosion and heat-resistant steel alloy in the form of pre-alloyed powder.
AMS AM Additive Manufacturing Metals
This specification covers a heat-resistant gamma titanium aluminide alloy in the form of pre-alloyed powder.
AMS AM Additive Manufacturing Metals
ABSTRACT
Smit, MarcHoen-Velterop,  LudmilaMontero-Sistiaga,  MariaPaesano, Antonio
This specification covers particle size classifications and corresponding particle size distribution requirements for metal powder feedstock conforming to a classification.
AMS AM Additive Manufacturing Metals
This specification specifies the engineering requirements for heat treatment, by part fabricators (users) or subcontractors, of parts made of wrought or additively manufactured nickel or cobalt alloys, of raw materials during fabrication, and of fabricated assemblies in which wrought nickel or cobalt alloys are the primary structural components.
AMS F Corrosion Heat Resistant Alloys Committee
This specification establishes process controls for the repeatable production of sintered parts by binder jet additive manufacturing (BJAM). It is primarily intended to be used to manufacture metallic or ceramic aerospace parts, but usage is not limited to such applications.
AMS AM Additive Manufacturing Metals
The intended upper bound of this specification is that the particle size distribution (PSD) of powders supplied shall be <60 mesh (250 µm) and that no powder (0.0 wt%) greater than 40 mesh (425 µm) is allowed.
AMS AM Additive Manufacturing Metals
This specification establishes process controls for the repeatable production of aerospace parts by EB-DED-Wire. It is intended to be used for metal aerospace parts produced by additive manufacturing (AM), but usage is not limited to such applications.
AMS AM Additive Manufacturing Metals
AS23190 is a procurement specification that covers a series of plastic and metal components and devices used for the tying, positioning, and supporting cable, cable assemblies, wire, and wire bundles in electrical, electronic, and communication equipment, and in interconnection systems.
AE-8C2 Terminating Devices and Tooling Committee
Additive Manufacturing (AM) and/or 3-D printing has been used for decades for fabrication of prototyping parts to validate design, geometries and kinematics. The ability to rapidly "grow" one-off and low-volume parts for evaluation and iterative design development is a perfect use of AM processes. As AM materials and machines advance, the repeatability, reproducibility and quality are maturing. Today, AM parts are moving into limited production applications with opportunity for future design features, competitive pricing, lower weight through design optimization, and potential for "on-demand" deliveries. The vast majority of AM parts remain limited to development and prototype phases of a program. As production ramps up, production part fabrications transition to more traditional processes. The higher quantities and schedule demand of production as well as conformity with certified materials and processes still favor traditional manufacturing methods. However, as production ends and the product moves fully into a sustainment phase, the demand for parts plummets (as shown in Figure 1) and subsequent fabrication schedules are dependent on forecasts that are often overwhelmed by "surprise" spares orders. In the latter part of the product life cycle, high rate, production-driven manufacturing processes may no longer be optimal and an alternative that permits a transition back to prototyping methods and one-off "on-demand" fabrication is needed.
Reilly, Thomas
The use of additive manufacturing to produce rotorcraft components is challenging due to demanding material property performance requirements. The need to contend with high cycle fatigue, fretting, and vibratory loading conditions has driven our industry to use high pedigree materials that are fully characterized and with well established and understood processes to transform them into parts. No additive manufacturing processes or materials approach this level of understanding today, making it difficult to utilize the technology to manufacture components designed to be produced using conventional methods. This has limited consideration of the technology in the sustainment segment of our business. Customers have a quite different perspective. Additive manufacturing has been identified by the Department of Defense as a critical technology for the sustainment of their vehicles and weapons systems. Each branch of the military and the Defense Logistics Agency has resources and facilities established to support the proliferation of 3D printing capability. They have all experienced success producing shop aides, tools, prototypes, and surrogate parts to address real time, point of use challenges in depots and in some cases, at or near the battlefield. This success has prompted the DoD to challenge our industry to find ways to utilize this technology to address component shortages due to obsolescence, lost tooling, or a lack of qualified sources. This paper presents Sikorsky's activities and programs that have been initiated to meet this challenge. This will include approaches for component characterization and business case analysis used to evaluate the practicality of using additively manufactured surrogate parts in legacy vehicles.
C., William
A concept of operations (CONOPS) is proposed for providing U.S. Marine Corps squads with mission-tailored small unmanned aerial systems (SUASs) using additive manufacturing. This is done on a tactically relevant timescale, ensuring that design improvements can be fielded far faster than with a traditional acquisition process. The CONOPS includes the following stages: mission planning and UAS selection/allocation/modification, order production and transmission, additive manufacturing, assembly and quality control, packaging and delivery, field assembly, field training and guidance, pre-mission checks, and mission use. The stages were developed through extensive discussions and interviews with Marine end users and iterated through several rounds of realistic wargaming. A comprehensive one-week training session was created that equipped Marines to demonstrate all design, manufacturing, and operational skills outlined in the CONOPS.
Gerdes, JohnHolder, EricBeals, NathanHumann, James
Sikorsky has developed a specification outlining the use of three casting technologies: simulation, additive manufacturing of the mold and low pressure casting. This specification has been used in the past on new development projects with positive results, reducing lead times and number of pours to produce a useable part. When the S-92 program needed to develop a second source for a casting, they worked with Magellan Aerospace to implement the specification. The project proceeded on time with all castings able to be used. Some elements of the specification were modified to work with a legacy part design, including the use of statistical process controls to reduce variability in crucible pouring.
Woodworth, HeatherFeatheringham, Andrew
For high end composite manufacturing in a rapid development environment, the long lead item is often the hard tooling, in particular the cure mold. A traditional metal mold takes in the neighborhood of four to nine months to design, fabricate and validate. With high temperature capable print materials, and larger and faster printers, Additive Manufacturing (AM) appears to have high potential in this area of advanced composites manufacturing. Sikorsky has used AM very successfully on a scale up to approximately 3'x3' and cure temperatures of 350°F. Though long-term durability is still to be determined; the materials, technologies, and techniques Sikorsky has employed for AM autoclave cure molds on this scale have consistently exceeded expectations. AM tools along the scale of main rotor blades could be leveraged to realize even more significant cost and schedule gains from AM autoclave tooling, and in this area, there are still more questions than answers when it comes to a dependable tooling solution. Rotorcraft development, in particular Future Vertical Lift (FVL), programs offer an opportunity to realize the significant schedule and cost benefits AM can provide for composite tooling.
Dunn, Eric
The rapid growth of small-size rotorcraft such as Unmanned Aerial Vehicles (UAV's) creates new missions with a new range of issues. Rotor noise is an inevitable consequence of rotary wing flight and can lead to the annoyance or dissatisfaction of customers. This paper presents the experimental work to explore possible acoustic and aerodynamic performance benefits from a proposed anti-phase rotor technology developed previously by NASA Ames and team. The anti-phase alternating pattern from blade to blade aims to prevent harmonic reinforcement of the blade vortex structure that could theoretically lead to an acoustic reduction. A modified NACA-4412 rotor with a NACA-E63 root was used as the baseline rotor for acoustics and aerodynamic performance comparisons. Six 8inch rotors (two sets per design) were manufactured using 3D printing technology. Testing was conducted in the Open Jet Flow-through Anechoic Chamber on the UAV Rotor Test System at Penn State. A semi-circular array that has a radius of 104 cm and held 15 microphones was used to measure the far-field rotor noise. Three flight conditions, hovering and advancing side edgewise flight 9.7 m/s and retreating side edgewise flight at 9.7 m/s, were tested. A total of nine cases for Matching RPM (MR) and nine cases for Matching Thrust (MT) cases were conducted. Possible uncertainties in the study were identified. Recirculation effects of testing in a closed anechoic chamber was acknowledged. A single rotor hover test at Penn State determined that peaks of Sound Pressure Level (SPL) within 2,000-4,000 Hz showed similar values within 10% difference when the test was in the chamber and outside free from recirculation. This range was taken as the range of interest of this study. The repeatability of data between the three runs in each case, showed variations below 10 % in acoustic performance metrics and below 5 % in aerodynamic performance metrics deeming each case repeatable at the point of testing. Physical differences in the advancing and retreating side rotors of the same design caused by uncertainties in manufacturing were identified to have caused discrepancies in the OASPL readings at the compared microphones of up to 2.3 dB. These discrepancy values can be taken as the possible acoustic error value in this study. In hover the modified rotors showed decreased aerodynamic performance and no significant increase in acoustic performance compared to the baseline rotor. In MR cases, the asymmetric and symmetric design had 10 % and 11 % more thrust but required 12.8 % and 8.4 % more torque and had negative values for percentage 1 / Power Loading (1 / PL) respectively. Overall Sound Pressure Level (OASPL) acoustic delta values were up to +1.3 dB louder. For the advancing side of the edgewise flight cases, the asymmetric design had a -5.1% decrease in torque and 8.4 % 1 / PL value, making it a better design for aerodynamic performance as compared to the symmetric design and the baseline rotor. There were also no significant acoustic performance benefits from either modified rotor. The retreating side showed the most significant aerodynamic performance benefits for both modified rotors. In the MR cases, the asymmetric design had a -22.1 % reduction in torque and a percentage 1 / PL value of 27.1 %. At 3,000 Hz, both the symmetric and asymmetric designs demonstrated significant acoustic advantages over the baseline rotor in the MR case. The symmetric design was 4 to 5 dB quieter and the asymmetric design was 3 to 4 dB quieter. This initial experimental exploration of the anti-phase blade concepts showed promising aerodynamic performance and SPL Spectrum at 3,000 Hz acoustic benefits.
Akif, RajaNguyen, NhanXiong, JuntaoPalacios, JoseYan, Sihong
With highway vehicles using over 20% of the total energy consumption in the United States, making strides in improving their fuel economy will positively influence the nation’s environmental impact. One methodology to accomplish this outcome is by reducing vehicle weight. In this regard, since the internal combustion (IC) engine is a major contributor to the mass of an automobile, it is an ideal area to target. Prior efforts in this area include using alternative materials (e.g., aluminum or magnesium) to decrease weight. Here, additive manufacturing (AM) is an appealing option due to its freedom from typical manufacturing constraints and the ability to produce highly optimized designs using nonconventional powertrain materials (e.g., titanium). The use of AM has the potential to increase reliability, improve performance, decrease production cost, and possibly minimize the number of parts. Since metal-based AM is a relatively new area of manufacturing for IC engines, its use has been largely limited to research, motorsport, and luxury vehicle activities. Given its potential, this effort provides a review and summary of AM work completed in this field including design optimization, prototyping, tooling and indirect manufacturing, part production, and remanufacturing and repair for IC engine components.
Gray, JameeDepcik, Christopher
This specification specifies the engineering requirements for heat treatment, by part fabricators (users) or subcontractors, of parts made of wrought or additively manufactured nickel or cobalt alloys, of raw materials during fabrication, and of fabricated assemblies in which wrought nickel or cobalt alloys are the primary structural components.
AMS F Corrosion Heat Resistant Alloys Committee
This specification covers an aluminum alloy in the form of pre-alloyed powder.
AMS AM Additive Manufacturing Metals
This SAE Information Report introduces key concepts and properties of adhesives, sealants, and HTMs and the roles they serve in present-day battery systems applications. The basic chemistry and properties of the three types of materials are summarized along with important health and environmental information. Relevant material dispense methodologies and equipment for material dispensing is reviewed. A series of representative battery applications examples employing adhesives, sealants, and HTMs is also provided with particular attention given to end-use performance.
Battery Systems Adhesives, Sealants and Heat Transfer Matl's
Evaluations of Mechanical Properties of ABS Parts from Open-Source 3D Printers and Conventional Manufacturing2020-01-02294/14/2020
3D printing is a revolutionary manufacturing method that allows the productions of engineering parts almost directly from modeling software on a computer. With 3D printing technology, future manufacturing could become vastly efficient. However, the procedures used in 3D printing differ substantially among the printers and from those used in conventional manufacturing. The objective of the present work was to comprehensively evaluate the mechanical properties of engineering products fabricated by 3D printing and conventional manufacturing. Three open-source 3D printers, i.e., the Flash Forge Dreamer, the Tevo Tornado, and the Prusa, were used to fabricate the identical parts out of the same material (acrylonitrile butadiene styrene). The parts were printed at various positions on the printer platforms and then tested in bending. Results indicate that there exist substantial differences in mechanical responses among the parts by different 3D printers. Specimens from the Prusa printer exhibit the best elastic properties while specimens from the Flash Forge printer exhibit the greatest post-yield responses. There further exist noticeable variations in mechanical properties among the parts that were fabricated by the same printer. Depending on the positions that the parts were placed on a printer platform, the properties of resultant parts can vary greatly. For comparison, identical parts were fabricated using a conventional manufacturing method, i.e., compression molding. Results show that compression molded parts exhibit more robust and more homogeneous properties than those from 3D printing.
Garcia, JordanHarper, RobertBradley, CoilinSchmidt, JohnLu, Y Charles
Innovative Additive Manufacturing Process for Successful Production of 7000 Series Aluminum Alloy Components Using Smart Optical Monitoring System2020-01-13004/14/2020
Aircraft components are commonly produced with 7000 series aluminum alloys (AA) due to its weight, strength, and fatigue properties. Auto Industry is also choosing more and more aluminum component for weight reduction. Current additive manufacturing (AM) methods fall short of successfully producing 7000 series AA due to the reflective nature of the material along with elements with low vaporization temperature. Moreover, lacking in ideal thermal control, print inherently defective products with such issues as poor surface finish alloying element loss and porosity. All these defects contribute to reduction of mechanical strength. By monitoring plasma with spectroscopic sensors, multiple information such as line intensity, standard deviation, plasma temperature or electron density, and by using different signal processing algorithm, AM defects have been detected and classified. For composition analysis, the ratio of the maximum intensities of Mg(I)/Al(I) shows a strong trend with the amount of Zn and Mg in the powder, and the results are extremely promising regarding the ability to use the online spectra for real time determination of the composition of the AA7075 powders with high accuracy. A test matrix based on DOE was built and response surface analysis was performed to get a regression formulae. The formula was utilized to control porosity during the process. Minimizing porosity level, process parameters can be further optimized and verified with the regression formulae. Having optimized process parameters, a preliminary design of in-process control system is followed, incorporating spectral signal data, such as Mg(II)/Mg(I), peak-line intensity ratio of Mg/Al, and so on.
Choi, JayMazumder, JyotiRice, Alex
Capability-Driven Adaptive Task Distribution for Flexible Multi-Human-Multi-Robot (MH-MR) Manufacturing Systems2020-01-13034/14/2020
Collaborative robots are more and more used in smart manufacturing because of their capability to work beside and collaborate with human workers. With the deployment of these robots, manufacturing tasks are more inclined to be accomplished by multiple humans and multiple robots (MH-MR) through teaming effort. In such MH-MR collaboration scenarios, the task distribution among the multiple humans and multiple robots is very critical to efficiency. It is also more challenging due to the heterogeneity of different agents. Existing approaches in task distribution among multiple agents mostly consider humans with assumed or known capabilities. However human capabilities are always changing due to various factors, which may lead to suboptimal efficiency. Although some researches have studied several human factors in manufacturing and applied them to adjust the robot task and behaviors. However, the real-time modeling and calculation of multiple human capabilities and real-time adaptive task distribution in flexible MH-MR manufacturing according to human capabilities are still challenging due to the complexity of human capabilities and heterogeneous multi-agent interactions. To address these issues, this paper first proposes a practical modeling approach to model and calculate the capabilities of different humans in real-time using some measurable performance indices. Based on these capabilities, this paper furthermore mathematically models the MH-MR manufacturing process and proposes a capability-driven adaptive task distribution approach with genetic algorithm based solutions to distribute different tasks to humans and robots online. The proposed adaptive approaches are validated through different MH-MR manufacturing tasks and the experimental results show that the approaches can significantly improve the manufacturing efficiency in terms of the time cost and the number of accomplished tasks than existing approaches in the presence of different time-varying human capabilities. Detailed results and statistical comparisons are presented to illustrate the effectiveness and advantages of the proposed solutions.
Zhang, ShaoboJia, Yunyi
Improving Robotic Accuracy through Iterative Teaching2020-01-00143/10/2020
Industrial robots have been around since the 1960s and their introduction into the manufacturing industry has helped in automating otherwise repetitive and unsafe tasks, while also increasing the performance and productivity for the companies that adopted the technology. As the majority of industrial robotic arms are deployed in repetitive tasks, the pose accuracy is much less of a key driver for the majority of consumers (e.g. the automotive industry) than speed, payload, energy efficiency and unit cost. Consequently, manufacturers of industrial robots often quote repeatability as an indication of performance whilst the pose accuracy remains comparatively poor. Due to their lack in accuracy, robotic arms have seen slower adoption in the aerospace industry where high accuracy is of utmost importance. However if their accuracy could be improved, robots offer significant advantages, being comparatively inexpensive and more flexible than bespoke automation. Extensive research has been conducted in the area of improving robotic accuracy through re-calibration of the kinematic model. This approach is often highly complex, and seeks to optimise performance over the whole working volume or a portion thereof, rather than optimising performance of a particular task. In this paper, a method for iteratively teaching poses on a standard industrial robot is presented, and an investigation into the limits on the achievable pose accuracy and the required recalibration period is conducted. Through experimental work on a KUKA KR 240 R2900 ultra robot equipped with a drilling end-effector and measured in 3DoF using a laser tracker, it is demonstrated that the achievable accuracy approaches the stated repeatability of the robot. Finally, investigation results into the accuracy of the robot over short distances to allow small corrections to be applied from these taught poses to compensate for work-piece alignment or thermal effects are presented.
Sawyer, DanielaTinkler, LloydRoberts, NathanDiver, Ryan
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