[ Article ]

Journal of the Korean Society of Manufacturing Technology Engineers - Vol. 27, No. 3, pp.175-181

ISSN: 2508-5107 (Online)

Print publication date 15 Jun 2018

Received 11 Apr 2018 Revised 18 May 2018 Accepted 30 May 2018

DOI: https://doi.org/10.7735/ksmte.2018.27.3.175

6축 로봇을 활용한 탄소 섬유 강화 플라스틱(CFRP) 소재의 드릴링 가공 분석 및 실시간 경로 제어

조재훈^a ; 이진호^a ; 신강우^a ; 김태곤^a ; 김효영^a ; 이석우^a^{, *}

6-Axis Robotic Carbon Fiber Reinforced Plastic Drilling Process Using Real-Time Path Control

Jae-Hoon Jo^a ; Jin-Ho Lee^a ; Kang-Woo Shin^a ; Tae-Gon Kim^a ; Hyo-Young Kim^a ; Seok-Woo Lee^a^{, *}

aKorea Institute of Industrial Technology, 89, Yangdaegiro-gil, Ipjang-myeon, Seobuk-gu, Cheonan, Chungnam-do, 31056, Korea

Correspondence to: ^*Tel.: +82-51-309-7401, Fax: +82-51-309-7510, E-mail address: swlee@kitech.re.kr (Seok Woo Lee).

Abstract

Carbon fiber reinforced plastic (CFRP) has high strength and light weight. Thus, it has the advantage of improving fuel efficiency. Because of its strength compared to weight, this material is used to manufacture large parts such as aircraft parts. In this paper, we study CFRP drilling and how to improve the machining accuracy of robotic drilling without an additional driving system in the robot's end-effector. Robotic drilling hole defects cause drilling force and error displacement at the end-effector. To address this problem, the authors apply real-time calibration on the drilling path based on drilling force signals from the dynamometer. As a result, it has been confirmed that real-time path control is effective for improving robotic drilling hole quality in CFRP specimens compared to drilling without real-time path control.

Keywords:

Carbon fiber reinforced plastic (CFRP), 6-Axis robot, Drilling, Manipulator, Force control

Acknowledgments

본 연구는 산업통상자원부의 기계산업핵심기술개발사업의 일환으로 수행하였습니다[10053248, 과제명: 탄소섬유복합재(CFRP) 가공시스템 개발].

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