Dr. Tanveer Saleh
Dr. Tanveer Saleh
International Islamic University Malaysia, Malaysia
Title: Towards the development of modular robotic machinetool for micromachining
Product miniaturization is a key aspect of manufacturing nowadays. Computer numerically controlled (CNC) machine tools are the major tools used in manufacturing industries for producing miniaturized products. However, CNC machines are still big, bulky and stationary. This research is an effort to develop a modular machine on a robotic platform which would be able to carry out machining operation. There have been several researches going on about the development and application of miniature multi legged robots. Hexapod robots are mobile, small and stable robots which are developed having a lot of variety. But the main focus of researchers till now have been the structure and motion of hexapod robots. However, not much research has been conducted about the use of legged robot for machining application. In this project a Hexapod robot was designed and fabricated for machining operation. The research scope for this project is limited to 1-D machining i.e. drilling operation. A suitable existing robot (hexapod) design was followed in this project. A drilling spindle was attached with the robot to carry out the machining operation. The robot was controlled using serial communication. A GUI (Graphical User Interface) was developed to control the Hexapod which had all the required algorithm inside. Machining operations were carried out with the prototype robot to test its performance. A new compensation algorithm has been proposed to improve the positional accuracy of the robot movement. The proposed algorithm takes into account spindle speed and linear velocity to compensate the positional error. The positional accuracy was improved by 85% after implementing the error compensation scheme. It was seen that for lowest spindle speed which is 2500RPM and point to point velocity 200mm/min the repeatability was the best which was less than 30m. The positional accuracy of the robot movement was compared with that of an existing commercial micromachining system. The performance of the robot was found to be almost similar to that of the commercial machine. Finally, the machined hole quality was measured in terms of circularity and taperness. It was observed that at the best machining parameter circularity deviation was as low as 0.016 mm and taperness was 0.547 degree.
Dr. Tanveer Saleh has been serving as an Assoc. Prof. in the Department of Mechatronics Engineering at the International Islamic University, Malaysia. Prior to join IIUM he worked as a Postdoctoral Fellow in the University of British Columbia, Canada. He completed his PhD in 2009 from the National University of Singapore. During his postdoctoral research at UBC. Dr. Tanveer worked mostly on micro-patterning of Carbon Nanotube Forest also known as Vertically Aligned Carbon Nanotubes (VACNTs). He is continuing his research on micro-patterning of VACNT for sensor fabrication in IIUM. He is currently leading two national level projects (funded by Ministry of Education and Ministry of Science and Technology) related to this research. His research related to VACNT has been published in high impact journals like Applied Physics Letters, Carbon, etc. He also continues his research on multipurpose machine development and robotic platform development for miniature machining.