Compliance analysis of an articulated machining robot
Апстракт
This paper describes analytically and experimentally based compliance modeling and identification of 5-axis vertical articulated machining robot. The conventional method for the calculation of Cartesian space compliance based on joint compliances and Jacobian matrix is expanded and used for experimental 5-axis machining robot. Analytical analysis was conducted for effects of compliances of each joint individually on Cartesian space robot compliance. Experimentally, the Cartesian space compliance is obtained by direct measurement of the absolute displacements evoked by static forces along 3- orthogonal directions at the tool tip in the robot workspace for the case of 3-axis machining.
Кључне речи:
Robot / Machining / Compliance analysisИзвор:
Strojarstvo, 2012, 54, 3, 229-235Издавач:
- Croation Union of Mech. Engineers and Naval Architects
Колекције
Институција/група
Mašinski fakultetTY - JOUR AU - Slavković, Nikola AU - Živanović, Saša AU - Milutinović, Dragan AU - Glavonjić, Miloš PY - 2012 UR - https://machinery.mas.bg.ac.rs/handle/123456789/1530 AB - This paper describes analytically and experimentally based compliance modeling and identification of 5-axis vertical articulated machining robot. The conventional method for the calculation of Cartesian space compliance based on joint compliances and Jacobian matrix is expanded and used for experimental 5-axis machining robot. Analytical analysis was conducted for effects of compliances of each joint individually on Cartesian space robot compliance. Experimentally, the Cartesian space compliance is obtained by direct measurement of the absolute displacements evoked by static forces along 3- orthogonal directions at the tool tip in the robot workspace for the case of 3-axis machining. PB - Croation Union of Mech. Engineers and Naval Architects T2 - Strojarstvo T1 - Compliance analysis of an articulated machining robot EP - 235 IS - 3 SP - 229 VL - 54 UR - https://hdl.handle.net/21.15107/rcub_machinery_1530 ER -
@article{ author = "Slavković, Nikola and Živanović, Saša and Milutinović, Dragan and Glavonjić, Miloš", year = "2012", abstract = "This paper describes analytically and experimentally based compliance modeling and identification of 5-axis vertical articulated machining robot. The conventional method for the calculation of Cartesian space compliance based on joint compliances and Jacobian matrix is expanded and used for experimental 5-axis machining robot. Analytical analysis was conducted for effects of compliances of each joint individually on Cartesian space robot compliance. Experimentally, the Cartesian space compliance is obtained by direct measurement of the absolute displacements evoked by static forces along 3- orthogonal directions at the tool tip in the robot workspace for the case of 3-axis machining.", publisher = "Croation Union of Mech. Engineers and Naval Architects", journal = "Strojarstvo", title = "Compliance analysis of an articulated machining robot", pages = "235-229", number = "3", volume = "54", url = "https://hdl.handle.net/21.15107/rcub_machinery_1530" }
Slavković, N., Živanović, S., Milutinović, D.,& Glavonjić, M.. (2012). Compliance analysis of an articulated machining robot. in Strojarstvo Croation Union of Mech. Engineers and Naval Architects., 54(3), 229-235. https://hdl.handle.net/21.15107/rcub_machinery_1530
Slavković N, Živanović S, Milutinović D, Glavonjić M. Compliance analysis of an articulated machining robot. in Strojarstvo. 2012;54(3):229-235. https://hdl.handle.net/21.15107/rcub_machinery_1530 .
Slavković, Nikola, Živanović, Saša, Milutinović, Dragan, Glavonjić, Miloš, "Compliance analysis of an articulated machining robot" in Strojarstvo, 54, no. 3 (2012):229-235, https://hdl.handle.net/21.15107/rcub_machinery_1530 .