dr hab. inż. Marek Galewski | Gdańsk University of Technology

The paper presents a method of vibration reduction during flat surface milling of large-sized details. It involves searching for the best conditions for mounting the workpiece based on the experimental identification of impulsively excited dominant vibration amplitudes, corresponding natural frequencies and phase angles on the selected machined surface. The identification is repeated for a set of tightening torques for the mounting...

This paper presents an algorithm for 3D path-following using an articulated 6-Degree-of-Freedom (DoF) robot as well as experimental verification of the proposed approach. This research extends the classic line-following concept, typically applied in 2D spaces, into a 3D space. This is achieved by equipping a standard industrial robot with a path detection tool featuring six low-cost Time-of-Flight (ToF) sensors. The primary objective...

Vibrations occurring during milling operations are one of the main issues disturbing the pursuit of better efficiency of milling operations and product quality. Even in the case of a stable cutting process, vibration reduction is still an important goal. One of the possible solutions to obtain it is selection of the favorable conditions for clamping the workpiece to the machine table. In this paper, a method for predicting and...

The article describes education techniques using robotics. For example, educational exercises on programming the Nachi MZ04 robotic arm are presented. The exercises use a wooden railroad toy model and elements printed in additive manufacturing technology. The exercises have increasing difficulty and can be used to educate young people in high school and specialized higher engineering studies (both bachelor's and master's).

The article introduces a method for selecting the best clamping conditions to obtain vibration reduction during milling of large-size workpiece. It is based on experimental modal analysis performed for a set of assumed, fixing conditions of a considered workpiece to identify Frequency Response Functions (FRFs) for each tightening torque of the mounting screws. Simulated plots of periodically changing nominal cutting forces are...