How to solve cutting path oscillation and accuracy anomalies in robotic waterjet cutting equipment?

A: Cutting path oscillation and accuracy anomalies are common motion control challenges in waterjet cutting applications, primarily rooted in the conflict between robot dynamic characteristics and complex path planning, and can be systematically resolved through the following approaches.

Root Causes of Path Oscillation:

In complex 5-axis waterjet cutting paths, when the robot wrist approaches a singularity configuration, joints must make rapid compensatory movements to maintain TCP orientation, resulting in localized sinuous oscillation. This dynamic instability can occur even when offline programming code is perfectly correct. Additionally, backlash in robot joint reducers accumulated from long-term high-intensity operation causes nozzle position deviation from the programmed path during direction changes, particularly prominent when cutting small-radius arcs and sharp corners.

Key Solutions for Accuracy Anomalies:

Singularity Handling: Use the SingArea instruction in programming to allow slight deviation in tool orientation, smoothly passing through singularity regions.

Accuracy Mode Activation: Enable Accuracy Mode in ABB's Motion Process Mode to optimize path accuracy, combined with Advanced Shape Tuning and Mounting Stiffness functions, along with Tune Master software to compensate for foundation rigidity, significantly improving tracking accuracy for complex paths.

Backlash Elimination: Apply reverse torque to servo motors before motion direction changes to pre-eliminate reducer backlash, effectively suppressing jitter and hysteresis.

Small Geometry Optimization: Use Wrist Move function, controlling the intersection point between waterjet and cutting surface using only two wrist axes to reduce friction effects. Note that the starting position must satisfy prerequisites including tool Z-axis coinciding with the waterjet and TCP positioned as close to the surface as possible.

Winwin offers professional robotic waterjet cutting equipment, capable of selecting suitable ABB robot models based on workpiece material, size, and precision requirements, with customized solutions available. Winwin is committed to providing comprehensive after-sales service, with products shipped nationwide to ensure long-term and stable equipment operation.