Torres Izu, Ramón

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https://academica-e.unavarra.es/handle/2454/53486

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Torres Izu

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Ramón

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Ingeniería

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1172569

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TA100778

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2023 - 20254
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Now showing 1 - 4 of 4
  • Thumbnail Image
    PublicationOpen Access
    Robotic application for abrasive belt machining of complex aircraft metal parts
    (Publicaciones DYNA, 2024) Torres Izu, Ramón; Mata Cantón, Sara; Aginaga García, Jokin; Barrenetxea Azpeitia, David; Ingeniería; Ingeniaritza; Institute of Smart Cities - ISC
    Surface finishing applications are still cumbersome manual tasks, therefore, robotization of the process is of great interest as it allows for automation and increased versatility. However, finishing processes are difficult to automate, mainly because of the variation in material removal. In particular, the variables involved undergo changes that modify the material removal rate. This paper proposes a methodology for modeling material removal automatically based on experimental data. The procedure consists of monitoring the material removed from the parts under study that are in an automated precision measuring system during the finishing process. Based on the experimental models, a control algorithm for continuous material removal is presented. It guarantees a homogeneous surface finish by varying the robot feed rate. Finally, the results of several experimental material removal models under different process conditions and the validation of the proposed control algorithm are presented. The results show that the proposed method achieves a substantial improvement in the homogeneity of the finish.
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    PublicationOpen Access
    Robotic belt finishing with process control for accurate surfaces
    (MDPI, 2023) Torres Izu, Ramón; Mata Cantón, Sara; Iriarte Goñi, Xabier; Barrenetxea Azpeitia, David; Torres Izu, Ramón; Ingeniería; Ingeniaritza
    The aerospace industry still relies on manual processes for finish applications, which can be a tedious task. In recent years, robotic automation has gained interest due to its flexibility and adaptability to provide solutions to this issue. However, these processes are difficult to automate, as the material removal rate can vary due to changes in the process variables. This work proposes an approach for automatically modeling the material removal process based on experimental data in a robotic belt grinding application. The methodology concerns the measurement of the removed mass of a test part during a finishing process using an automatic precision measurement system. Then, experimental models are used to develop a control algorithm for continuous material removal that maintains a uniform finishing process by regulating the robot’s feed rate. Next, the results for various experimental material removal models under different process conditions are presented, showing the process parameter’s influence on the removal capacity. Finally, the proposed control algorithm is validated, achieving a constant material removal rate.
  • Thumbnail Image
    PublicationEmbargo
    Compensation strategy to minimize over-cut effects in robotic belt grinding with passive-compliant tools
    (Elsevier, 2025-03-19) Torres Izu, Ramón; Iriarte Goñi, Xabier; Mata Cantón, Sara; Aginaga García, Jokin; Barrenetxea Azpeitia, David; Ingeniería; Ingeniaritza; Institute of Smart Cities - ISC; Gobierno de Navarra / Nafarroako Gobernua
    At the beginning of the robotic belt grinding path, passive-compliant tools can generate an over-cut effect. The transient state from the first contact point between tool and workpiece to the grinding steady state can generate an excess of material removal at the workpiece border. If successive grinding passes are made, this effect will accumulate, increasing the shape deviation at the workpiece border. Therefore, the purpose of this research is to analyze this phenomenon and develop an easy-to-implement compensation strategy to avoid removing an excess of material at the beginning of grinding paths. Specifically, a geometric model of the contact has been developed that, together with the material removal model, allows to reproduce the cut-in effect for a robot-operated passive-compliant tool case. In turn, the compensation strategy that has been designed, avoids removing an excessive amount of material by means of a cut-in path that adjusts the feed velocity to the instantaneous contact force. This path is based on the tool geometry and grinding process parameters. In order to validate the proposed strategy, several experiments have been performed for different process conditions. Results show how the proposed solution significantly reduces the over-cut effect providing a homogeneous material removal since the beginning of the grinding.
  • Thumbnail Image
    PublicationOpen Access
    Characterization and optimization of cutting depth in passive-compliant robotic belt grinding
    (Springer, 2024-12-30) Torres Izu, Ramón; Aginaga García, Jokin; Mata Cantón, Sara; Barrenetxea Azpeitia, David; Inziarte Hidalgo, Ibai; Ingeniería; Ingeniaritza; Institute of Smart Cities - ISC; Universidad Pública de Navarra / Nafarroako Unibertsitate Publikoa; Gobierno de Navarra / Nafarroako Gobernua
    Robotic belt grinding offers numerous advantages, such as operational versatility and the ability to work in complex spaces. Its implementation in the modern industry aims to surpass manual grinding tasks and enhance overall productivity. Among these processes, compliant techniques offer adaptive solutions, where the tool can adapt to complex surfaces, besides providing more efficient grinding solutions for industrial applications. This paper focuses on an easy characterization of the cutting depth in a robotic belt grinding application using a portable passive-compliant tool. To this end, a cutting depth belt grinding model based on process parameters is presented. Experimental tests are conducted to correlate the depth of material removal with the belt wear behavior and analysis on Inconel 718 specimens. Then, the solution presented is validated through additional tests. Furthermore, the model is utilized for a productivity optimization that takes into account the belt wear, searching for optimal process variables that minimize cycle time.