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20th CIRP Conference on Modeling of Machining Operations in Mons, CIRP CMMO 2025

作者： Delooz, Florian Dambly, Valentin Ducobu, François Rivière-Lorphèvre, Edouard Olivier, Bryan Department of Theoretical Mechanics Dynamics and Vibrations University of Mons Place du Parc 20 Mons7000 Belgium Department of Machine Design and Production Engineering University of Mons Place du Parc 20 Mons7000 Belgium

Industrial robots are being used more and more for machining operations, in particular due to their agility in the case of products with complex geometries, as well as their adaptability across various applications. For some years, as industries become more ecologically conscious, energy consumption (EC) during operations becomes an important consideration. This growing awareness motivates the need for models that monitor the EC of a robot during machining operations. Firstly, the robot multibody model used in the simulations will be completely described. The computational methodology used to calculate EC during these machining tasks will also be outlined, including a discussion of the motors model applied in the simulations. Then, to validate the established model, an initial simulation will be carried out using a simple general case, depicting a straight line trajectory, to demonstrate the effectiveness of the model used. Finally, other relevant simulation tests will be presented for distinct cases: a smooth and continuous machining trajectory with variations in the curve parameter and the followed axes. The results of these numerical tests provide insights into how different machining strategies impact EC, providing guidelines for optimizing robot operation in an environmentally conscious industrial context. © 2025 Elsevier B.V.. All rights reserved.

关键词： Industrial robots

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Performance and efficiency of co-simulation for milling operations in robotic machining 20

Performance and efficiency of co-simulation for milling oper...

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20th CIRP Conference on Modeling of Machining Operations in Mons, CIRP CMMO 2025

作者： Dantinne, Hugo Dambly, Valentin Verlinden, Olivier Ducobu, François Riviere-Lorphevre, Edouard Olivier, Bryan Department of Theoretical Mechanics Dynamics and Vibrations University of Mons 20 Place du Parc Mons7000 Belgium Department of Machine Design and Production Engineering University of Mons 20 Place du Parc Mons7000 Belgium

In robotic machining, tool/workpiece interaction generates forces that impact the performance of the robotic arm. This leads to defections due to its lower stiffness compared to dedicated machining machines, particularly at its joints. These deflections can degrade the quality of the machining operation, making trajectory and orientation optimization essential. Accurate optimization requires knowledge of the transient force field for the operation and a model of the robot. Currently, the simulations are performed using two in-house simulation frameworks: EasyDyn for the multibody dynamics of robot modelling and Dystamill for the modelling of the cutting forces. To enhance the simulation's modularity, co-simulation between the multibody system (MBS) of the robot and the workpiece (with calculation of cutting forces for the latter) is proposed, allowing for better integration of the coupled dynamics. The decision on where to partition the model is critical. Given that the workpiece transmits force elements while the robot transmits position data, a displacement-force coupling approach is proposed. Co-simulation offers several advantages, including the ability to use dedicated software tailored to different parts of the model and facilitating the interfacing of various robots with different machining models. However, the modularity offered by co-simulation techniques is counterbalanced by less accurate results with respect to those obtained with monolithic models. This research aims to evaluate the influence of the accuracy of the results on a simple model. © 2025 The Author(s).

关键词： Milling (machining)

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Application of material constitutive and friction models parameters identified with AI and ALE to a CEL orthogonal cutting model 19

Application of material constitutive and friction models par...

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19th CIRP Conference on Modeling of Machining Operations, CMMO 2023

作者： Ducobu, François Palanisamy, Nithyaraaj Kugalur Arrazola, Pedro-José Rivière-Lorphèvre, Edouard Machine Design and Production Engineering Lab Research Institute for Science and Material Engineering University of Mons Mons7000 Belgium Mechanical and Manufacturing Department Faculty of Engineering Mondragon Unibertsitatea Loramendi 4 Arrasate-Mondragón20500 Spain

The identification of input parameters for funite element modelling of the cutting process is still a complex task as the experimental testing equipment cannot reach its combined levels of strains, strain rates and temperatures. Inverse identification using Artificial Intelligence method provides a relevant alternative. In this paper, material constitutive and friction models parameters identified with an Efficient Global Optimization algorithm and an ALE orthogonal cutting model are introduced in a CEL model. Assessment of the differences in the results due to the formulation and dependence of parameters identification to the finite element model are then performed. © 2023 Elsevier B.V.. All rights reserved.

关键词： Finite element method

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Possibilities of software automation of optical measurements of aeronautical elements produced additively in the structure Industry 4.0 10

Possibilities of software automation of optical measurements...

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10th IEEE International Workshop on Metrology for AeroSpace, MetroAeroSpace 2023

作者： Budzik, Grzegorz Dziubek, Tomasz Paszkiewicz, Andrzej Przeszlowski, Lukasz Bolanowski, Marek Józwik, Jerzy Rzeszów University of Technology Departament of Machine Design Rzeszów Poland Rzeszów University of Technology Department of Complex Systems Rzeszów Poland Lublin University of Technology Department of Production Engineering Lublin Poland

ISBN: (纸本)9781665456906

The article presents an analysis of the possibility of software automation of the implementation of fast optical measurements in the Rapid Inspection process using optical scanners. Various variants of measurement of incrementally manufactured products were tested, referring to the measurement of single elements and elements grouped by software and technology. Numerical and technological models have been developed for the implementation of prototypes using 3D printing methods, which can ultimately ensure automation and acceleration of the measurement process for selected additive manufacturing methods. It is also possible to integrate them in the Industry 4.0 structure as the Inspection 4.0 process. This approach is part of the concept of intelligent diagnostic systems used in Industry 4.0. © 2023 IEEE.

关键词： Inspection

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Editorial

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Procedia CIRP 2025年 133卷 1-1页

作者： Ducobu, Fran ois Lauwers, Bert Machine Design and Production Engineering Lab Research Institute for Materials Science and Engineering University of Mons Mons7000 Belgium Department of Mechanical Engineering KU Leuven Leuven3001 Belgium

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An experimental methodology to improve the robotic drilling of aluminium alloys

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CIRP Annals 2025年

作者： Ducobu, François Beuscart, Thomas Dambly, Valentin Rivière-Lorphèvre, Edouard Ortiz-de-Zarate, Gorka Arrazola, Pedro-José Machine Design and Production Engineering Lab Research Institute for Science and Material Engineering UMONS Belgium Faculty of Engineering Department of Mechanics and Industrial Production Mondragon Unibertsitatea Spain

In aeronautics, mastering the drilling process is crucial to meet strict quality standards. While robots provide a cost-effective solution for drilling large, complex parts, challenges arise in metallic materials due to their low stiffness. This study establishes a systematic experimental method to improve hole quality during robotic drilling of aluminium alloys. Holes were drilled in plates in four positions and 64 postures using a 6 mm tool to analyse their influence on a new defect index. A static deflection compensation method was developed to improve hole quality, addressing static deflection issues narrowing the gap between robotic drilling and CNC machining. © 2025 CIRP

关键词： Aluminum alloys

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Dimensional and shape analysis of conformal channels on the example of an aircraft engine blade casting mold 10

Dimensional and shape analysis of conformal channels on the ...

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10th IEEE International Workshop on Metrology for AeroSpace, MetroAeroSpace 2023

作者： Przeszlowski, Lukasz Józwik, Jerzy Nieslony, Piotr Budzik, Grzegorz Michna, Maciej Kochmanski, Lukasz Rzeszów University of Technology Departament of Machine Design Rzeszów Poland Lublin University of Technology Department of Production Engineering Lublin Poland Opole University of Technology Department of Machine Technology and Materials Science Opole Poland Borg Warner PoLand Sp. Z O.o. Rzeszów Poland

ISBN: (纸本)9781665456906

The article presents the analysis of the shape and dimensions of conformal channels used in the mold prototype. They affect the speed of the part's cooling, thus reducing the mold's injection time. On the purpose for this study, the models used for the research are designed, such as the rotor blade and its prototype of the injection mold with conformal channels. The models were made by using additive manufacturing technologies. In order to determine the correct implementation of conformal channels, the prototype mold models were analyzed by a CT scan and they were also filled with wax. © 2023 IEEE.

关键词： Industry 4.0

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Mechanistic modeling of cutting forces in milling of unidirectional Glass Fiber Reinforced Polymer (UD-GFRP) 20

Mechanistic modeling of cutting forces in milling of unidire...

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20th CIRP Conference on Modeling of Machining Operations in Mons, CIRP CMMO 2025

作者： Nutte, Matthias Rivière-Lorphèvre, Edouard Dambly, Valentin Arrazola, Pedro-José Lazoglu, Ismail Granjon, Aurélie Ducobu, François Machine Design and Production Engineering Lab Research Institute for Science and Material Engineering UMONS Mons7000 Belgium Mechanical and Manufacturing Department Faculty of Engineering Mondragon Unibertsitatea Loramendi 4 Arrasate-Mondragón20500 Spain Manufacturing and Automation Research Center Koc University Istanbul34450 Turkey Sobelcomp SPRL Rue de l'économie 13 Loncin 4431 Belgium

Mechanistic models, established on experimental data, are recognized for their precision and simplicity in implementation. In this context of milling, the modeling of cutting forces, specifically radial and tangential components, has been extensively explored for unidirectional carbon fiber-reinforced polymer (UD-CFRP) parts. These models account for the anisotropic nature of fiber-reinforced polymers (FRPs), with cutting coefficients that vary based on the instantaneous cutting angle. However, due to the inherent flexibility of these materials, primarily attributed to their low thickness, axial cutting forces must also be incorporated to accurately represent the phenomena occurring during the machining process. This study develops a model for calculating cutting forces in three spatial directions for UD-GFRPs (unidirectional Glass Fiber-reinforced polymers). Building on an existing model from the literature for UD-CFRP, this new version introduces several modifications. First, the model validated for CFRPs must be extended to GFRPs. Secondly, the model must be extended from two dimensions to three dimensions. Finally, to ensure that the model includes only the actual contributions of the trimming operation, machining tests will be performed using only the rolling teeth. The cutting coefficients are modelled as a periodic function with a fundamental period of π. A first-order Fourier series was chosen for this purpose. Fourier series parameters are identified from the milling forces measured during a set of slotting operations at three feed rates and four fiber orientations. While the average levels of cutting forces are accurately modelled for both slotting and shoulder milling (with 50% immersion in up milling), the modeling of force amplitudes still requires improvement. © 2025 The Author(s).

关键词： Slotting

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Performance and efficiency of co-simulation for milling operations in robotic machining

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Procedia CIRP 2025年 133卷 114-119页

作者： Hugo Dantinne Valentin Dambly Olivier Verlinden François Ducobu Edouard Riviere-Lorphevre Bryan Olivier Department of Theoretical Mechanics Dynamics and Vibrations University of Mons 20 Place du Parc 7000 Mons Belgium Department of Machine design and Production Engineering University of Mons 20 Place du Parc 7000 Mons Belgium

In robotic machining, tool/workpiece interaction generates forces that impact the performance of the robotic arm. This leads to defections due to its lower stiffness compared to dedicated machining machines, particularly at its joints. These deflections can degrade the quality of the machining operation, making trajectory and orientation optimization essential. Accurate optimization requires knowledge of the transient force field for the operation and a model of the robot. Currently, the simulations are performed using two in-house simulation frameworks : EasyDyn for the multibody dynamics of robot modelling and Dystamill for the modelling of the cutting forces. To enhance the simulation’s modularity, co-simulation between the multibody system (MBS) of the robot and the workpiece (with calculation of cutting forces for the latter) is proposed, allowing for better integration of the coupled dynamics. The decision on where to partition the model is critical. Given that the workpiece transmits force elements while the robot transmits position data, a displacement-force coupling approach is proposed. Co-simulation offers several advantages, including the ability to use dedicated software tailored to different parts of the model and facilitating the interfacing of various robots with different machining models. However, the modularity offered by co-simulation techniques is counterbalanced by less accurate results with respect to those obtained with monolithic models. This research aims to evaluate the influence of the accuracy of the results on a simple model.

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Modelling the energy consumption of an industrial robot with different types of trajectory for machining tasks

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Procedia CIRP 2025年 133卷 310-315页

作者： Florian Delooz Valentin Dambly François Ducobu Édouard Rivière-Lorphèvre Bryan Olivier Department of Theoretical Mechanics Dynamics and Vibrations University of Mons Place du Parc 20 7000 Mons Belgium Department of Machine Design and Production Engineering University of Mons Place du Parc 20 7000 Mons Belgium

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