Compliance analysis of 5-axis vertical articulated machinig robot

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.