Compliance analysis of 5-axis vertical articulated machinig robot
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2011
Authors
Milutinović, DraganGlavonjić, Miloš
Slavković, Nikola
Živanović, Saša
Kokotović, Branko
Dimić, Zoran
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The application of industrial robots for machining is currently limited to tasks with low precision demands due to the low stiffness of industrial robots compared to machined tools. This paper describes compliance modeling and analysis of 5-axis vertical articulated robot. The method for the calculation of Cartesian compliance based on joints compliance and Jacobian matrix is used. For the experimental 5-axis machining robot, analytical and experimental analysis was carried out of tool tip displacements induced by the forces in three Cartesian directions in the robot workspace for the case of 3-axis milling. Also, analytical analysis was conducted for effects of compliances of each joint on tool displacements, as a basis not only for the design of new 5-axis vertical articulated machining robot with integrated motor spindle, but also for development of future strategy for real-time robot deformation compensation.
Keywords:
robot / machining / compliance modelingSource:
Proceedings of the 4th Interanational Conference on Manufacturing Engineering ICMEN, 2011, 411-422Funding / projects:
- Razvoj tehnologija višeosne obrade složenih alata za potrebe domaće industrije (RS-MESTD-MPN2006-2010-14034)
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Mašinski fakultetTY - CONF AU - Milutinović, Dragan AU - Glavonjić, Miloš AU - Slavković, Nikola AU - Živanović, Saša AU - Kokotović, Branko AU - Dimić, Zoran PY - 2011 UR - https://machinery.mas.bg.ac.rs/handle/123456789/4812 AB - The application of industrial robots for machining is currently limited to tasks with low precision demands due to the low stiffness of industrial robots compared to machined tools. This paper describes compliance modeling and analysis of 5-axis vertical articulated robot. The method for the calculation of Cartesian compliance based on joints compliance and Jacobian matrix is used. For the experimental 5-axis machining robot, analytical and experimental analysis was carried out of tool tip displacements induced by the forces in three Cartesian directions in the robot workspace for the case of 3-axis milling. Also, analytical analysis was conducted for effects of compliances of each joint on tool displacements, as a basis not only for the design of new 5-axis vertical articulated machining robot with integrated motor spindle, but also for development of future strategy for real-time robot deformation compensation. C3 - Proceedings of the 4th Interanational Conference on Manufacturing Engineering ICMEN T1 - Compliance analysis of 5-axis vertical articulated machinig robot EP - 422 SP - 411 UR - https://hdl.handle.net/21.15107/rcub_machinery_4812 ER -
@conference{ author = "Milutinović, Dragan and Glavonjić, Miloš and Slavković, Nikola and Živanović, Saša and Kokotović, Branko and Dimić, Zoran", year = "2011", abstract = "The application of industrial robots for machining is currently limited to tasks with low precision demands due to the low stiffness of industrial robots compared to machined tools. This paper describes compliance modeling and analysis of 5-axis vertical articulated robot. The method for the calculation of Cartesian compliance based on joints compliance and Jacobian matrix is used. For the experimental 5-axis machining robot, analytical and experimental analysis was carried out of tool tip displacements induced by the forces in three Cartesian directions in the robot workspace for the case of 3-axis milling. Also, analytical analysis was conducted for effects of compliances of each joint on tool displacements, as a basis not only for the design of new 5-axis vertical articulated machining robot with integrated motor spindle, but also for development of future strategy for real-time robot deformation compensation.", journal = "Proceedings of the 4th Interanational Conference on Manufacturing Engineering ICMEN", title = "Compliance analysis of 5-axis vertical articulated machinig robot", pages = "422-411", url = "https://hdl.handle.net/21.15107/rcub_machinery_4812" }
Milutinović, D., Glavonjić, M., Slavković, N., Živanović, S., Kokotović, B.,& Dimić, Z.. (2011). Compliance analysis of 5-axis vertical articulated machinig robot. in Proceedings of the 4th Interanational Conference on Manufacturing Engineering ICMEN, 411-422. https://hdl.handle.net/21.15107/rcub_machinery_4812
Milutinović D, Glavonjić M, Slavković N, Živanović S, Kokotović B, Dimić Z. Compliance analysis of 5-axis vertical articulated machinig robot. in Proceedings of the 4th Interanational Conference on Manufacturing Engineering ICMEN. 2011;:411-422. https://hdl.handle.net/21.15107/rcub_machinery_4812 .
Milutinović, Dragan, Glavonjić, Miloš, Slavković, Nikola, Živanović, Saša, Kokotović, Branko, Dimić, Zoran, "Compliance analysis of 5-axis vertical articulated machinig robot" in Proceedings of the 4th Interanational Conference on Manufacturing Engineering ICMEN (2011):411-422, https://hdl.handle.net/21.15107/rcub_machinery_4812 .