ENCYCLOPÉDIE DE LA RECHERCHE SUR L’ALUMINIUM AU QUÉBEC 2013 | Page 77

DÉVELOPPEMENT, OPTIMISATION ET INTÉGRATION DES PROCÉDÉS DE FABRICATION ET DE CONCEPTION
DEVELOPMENT, OPTIMIZATION AND PROCESS INTEGRATION OF MANUFACTURING AND DESIGN

75

FRAISAGE ROBOTISÉ DE AA6061-T6 : QUALITÉ DE SURFACE DE LA PIÈCE
ROBOTIC MILLING OF AA6061-T6 : PART SURFACE QUALITY
Behrang Majedi1, Victor Songmene2, Ilian bonve3
1,2
3

Département de génie mécanique, École de technologie supérieure

Département de génie de la production automatisée, École de technologie supérieure

Spectral analysis of the surface profile (FFT)

Introduction

Machining force & spectral analysis

Robotic machining processes
• Drilling: Excellent
drilling process

alternative

to

manual

• Grinding: Grinding and polishing complex
parts
• Deburring: Removing burrs from the edges of a
machined part
• Fettling: Removing excess materials from
molded, cast and forged parts

Dominant peaks have been placed at lowfrequencies
Parseval’s theorem

• Robotic milling: milling composite materials
and aluminum parts
Test setup

The machining force has a dominant power
around 80 Hz which is near to the
frequency of the roughness irregularities.
RMS of the surface waviness (sample length 2.5 mm)
Feed
MM/S

Depth of Cut
0.25 mm

+X

+Y

-Y

+Y

+X

-Y

1

0.61 2.95 2.17

1

1.02

3.02

1.40

2

1.24

5.07

2.45

2

0.95 4.85 2.91

2

1.27

4.38

2.13

4

1.42

6.81

2.60

3

1.25 6.43 3.39

3

1.78

5.51

2.21

6

2.30

6.50

2.21

4

1.00 6.52 1.90

4

1.64

5.77

2.07

8

2.36

5.51

2.28

5

1.15 6.17 1.31

5

2.55

6.06

1.92

10

2.20

6.77

2.41

+X

several slots at different directions are
machined on an aluminium block by
applying different feed speeds and depth of
cuts.
Problematic
Rough surface finish

+Y

Feed
MM/S

-Y

Depth of Cut
0.5mm

Feed
MM/S

Depth of Cut
0.25mm

RMS of the surface roughness (sample length 0.25 mm)
Feed
MM/S

Depth of Cut
0.25 mm

1

0.18 0.59 0.26

+X

+Y

Feed
MM/S

-Y

Depth of Cut
0.5mm
+X

1

+Y

-Y

0.23

0.70

0.33

Feed
MM/S

Depth of Cut
0.25mm
+Y

2

+X

-Y

0.25

0.76

0.24

2

0.20 0.72 0.27

2

0.27

0.81

0.27

4

0.27

0.77

0.32

3

0.20 0.75 0.30

3

0.27

0.77

0.34

6

0.84

0.90

0.39

4

0.23 0.88 0.18

4

0.30

0.87

0.40

8

0.84

0.88

1.51

5

0.26 0.79 0.21

5

0.31

1.21

0.37

10

1.51

1.21

1.74

Straightness test (laser tracker)
CNC

Experimental modal test

Robot

FRF of the system shows highly coupled
natural frequencies around 80 Hz.
Conclusion

Surface profile

The wavelength of the major irregularities of
the straightness test profile is same as the
wavelength of the major irregularities detected
on the surface profile.

Journée des étudiants – REGAL

• Poor surface quality
• In addition to the cutting parameters, the
cutting directions are also effective on surface
quality.
• The motion of the robot generates the
waviness, while the excitation of the robot’s
natural frequencies generates the roughness.
• Improving the performance of the robot
drives could reduced the amplitude of the
major irregularities (waviness).
• Machining in a an appropriate direction will
minimize the amplitude of the minor
irregularities (roughness).

Behrang Ma jedi
Victor Songmene
Département de
génie mécanique,
École de technologie
supérieure
Illian Bonve
Département de génie
de la production automatisée,
École de technologie
supérieure

Although the surface quality of the machined parts has a critical role in their
Malgré que la qualité surfacique des pièces machinées joue un rôle critique dans
Palais des congrès de Montréal, QC, Canada, 22 octobre performance, the studies of the effect of the robotic machining systems on
leur performance, les études des effets des systèmes robotisés d’usinage sur 2013
ce paramètre ne s’attardent qu’aux procédés de finition tels que le polissage et
this parameter are limited to the finishing processes such as grinding and
l’ébarbage. Dans la présente étude, nous analysons les irrégularités surfaciques
deburring. However, in this research, surface irregularities which are generated
générées par un procédé robotisé de fraisage. À cette fin, nous pratiquons
by a robotic milling process are investigated. For this purpose, several slots at
plusieurs fentes dans différentes directions sur un bloc d’aluminium en variant
different directions are machined on an aluminum block by applying different
la vitesse d’alimentation et la