Modeling and experimental investigation of Cartesian compliance characterization for drilling robot

Modeling and experimental investigation of Cartesian compliance characterization for drilling robot Industrial robot due to its high flexibility and low cost is wildly used in many areas. However, the low stiffness properties are the main limitation to the application of industrial robots in the field of precision machining. This paper addresses a modeling method of the Cartesian compliance for a drilling robot. The stiffness characterization in the drilling axial direction is analyzed, and the diversity of the axial stiffness in different robot postures is investigated. Based on the Cartesian compliance model, a quantitative evaluation index of the robot drilling performance is defined. Finally, experiments were developed on KUKA KR500-2 robot to validate the correctness of the model proposed, and specific conclusions regarding the robot compliance characterization are presented. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png The International Journal of Advanced Manufacturing Technology Springer Journals

Modeling and experimental investigation of Cartesian compliance characterization for drilling robot

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Publisher
Springer London
Copyright
Copyright © 2017 by Springer-Verlag London
Subject
Engineering; Industrial and Production Engineering; Media Management; Mechanical Engineering; Computer-Aided Engineering (CAD, CAE) and Design
ISSN
0268-3768
eISSN
1433-3015
D.O.I.
10.1007/s00170-017-9991-z
Publisher site
See Article on Publisher Site

Abstract

Industrial robot due to its high flexibility and low cost is wildly used in many areas. However, the low stiffness properties are the main limitation to the application of industrial robots in the field of precision machining. This paper addresses a modeling method of the Cartesian compliance for a drilling robot. The stiffness characterization in the drilling axial direction is analyzed, and the diversity of the axial stiffness in different robot postures is investigated. Based on the Cartesian compliance model, a quantitative evaluation index of the robot drilling performance is defined. Finally, experiments were developed on KUKA KR500-2 robot to validate the correctness of the model proposed, and specific conclusions regarding the robot compliance characterization are presented.

Journal

The International Journal of Advanced Manufacturing TechnologySpringer Journals

Published: Jan 18, 2017

References

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