Browsing by Author "Rubio, Antonio"
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Item End-effector for automatic shimming of composites(2016-09-27) Antolín-Urbaneja, Juan Carlos; Livinalli, Juan; Puerto, Mildred; Liceaga, Mikel; Rubio, Antonio; San-Román, Angel; Goenaga, Igor; Tecnalia Research & Innovation; ROBOTICA_AUTOMA; FACTORY; INNOV_AIR_MOBIL; FABRIC_INTEL; MAQUINASGaps in composite structures are a risky factor in aeronautical assemblies. For mechanically joined composite components, the geometrical conformance of the part can be problematic due to undesired or unknown re-distribution of loads within a composite component, with these unknowns being potentially destructive. To prevent unnecessary preloading of a metallic structure, and the possibility of cracking and delamination in a composite structure, it is important to measure all gaps and then shim any gaps greater than 127 microns. A strategy to overcome the high relative tolerances for assemblies lies in the automated manufacturing of shims for the gaps previously predicted through the evaluation of their volumes via a simulation tool. This paper deals with the development of a special end-effector prototype to enable the shimming of gaps in composites structures using a pre-processed geometry. The aim of this end-effector is to provide movement to a temperature controlled hot-end in order to generate a solid shim of ABS on the target composite surface. This process is defined according to the trajectories and velocities marked by the 3D printing process using standard G-code. The geometry and material volume to be printed are indicated by the simulated gap volume which is based on previous metrological measurements. The final objective will be to attach this end-effector to an anthropomorphic robot to enable autonomous manufacturing. This work is part of the EU FP7 funded LOCOMACHS project, under grant agreement n◦314003.Item Flexible Machining System for an Efficient Skin Machining(2016-09-27) Rubio, Antonio; Calleja, Luis; Orive, Javier; Mújica, Ángel; Rivero, Asunción; FABRIC_INTEL; SGAluminum skin milling is a very challenging process due to the high quality requirements needed in the aeronautic and aerospace industries. Nowadays, on these markets, there are just two technological approaches able to face the manufacturing of this sort of wide thin blanks: chemical and mechanical milling by means of highly complex machines. Both solutions lead to a high investment requirement that affect directly on the application profitability on these industrial sectors. This paper presents a flexible machining system that allows milling skin shaped parts within required tolerances by means of an innovative universal holding fixture combined with an adaptive toolpath development. This flexible holding fixture can be adapted to the required shape and can hold uniformly the whole sheet surface. Besides, the solution includes an implementation that can adapt the machining toolpath by means of the skin thickness online measurement. The integration of these two innovative devices allows machining a wide range of low stiffness panels, including different sizes, geometries and curvatures. Moreover, there is no need of readapting the fixture set-up in order to interspersing milling process with trimming and drilling, while one or more separated parts are hold at the same time. On the other hand, since this technological solution has been developed in terms of process efficiency, it allows facing the skin machining with a drastically reduced investment. Hence, this technology turns into a more affordable manufacturing process for industrial suppliers and increases the competitiveness on the aeronautic and aerospace markets.