Coupled Multibody Model Of Industrial Robot With Milling Simulator For Trajectory Compensation

摘要

Robotic machining is a fast-growing technology in the field of mechanical manufacturing. Indeed, it is generally accepted that for the same working space, a fully equipped robotic machining cell can cost 30 to 50 % less than a conventional machine tool. However, inaccuracies resulting either from vibrations or deflections occur while the robot is subjected to cutting forces, inherent to its flexible structure. As an order of magnitude, the stiffness at the tool-tip is about 1N/m for industrial robots against more than 50N/m for CNC machine tools. The flexibility source has been investigated and appears to be caused by the robot articulations in a proportion of 80% while the remaining flexibility issues from the structural elasticity. In order to improve the accuracy of robotic machining operations, several approaches have been carried out such as the study of stable cutting conditions and the online/offline compensation of the tool trajectory.