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Dynamic behavior analysis for a six axis industrial machining robot
- Source :
- Journal of Advanced Materials Research, Journal of Advanced Materials Research, 2012, 423, pp.65-76. ⟨10.4028/www.scientific.net/AMR.423.65⟩
- Publication Year :
- 2012
- Publisher :
- HAL CCSD, 2012.
-
Abstract
- International audience; The six axis robots are widely used in automotive industry for their good repeatability (as defined in the ISO92983) (painting, welding, mastic deposition, handling etc.). In the aerospace industry, robot starts to be used for complex applications such as drilling, riveting, fiber placement, NDT, etc. Given the positioning performance of serial robots, precision applications require usually external measurement device with complexes calibration procedure in order to reach the precision needed. New applications in the machining field of composite material (aerospace, naval, or wind turbine for example) intend to use off line programming of serial robot without the use of calibration or external measurement device. For those applications, the position, orientation and path trajectory precision of the tool center point of the robot are needed to generate the machining operation. This article presents the different conditions that currently limit the development of robots in robotic machining applications. We analyze the dynamical behavior of a robot KUKA KR240-2 (located at the University of Bordeaux 1) equipped with a HSM Spindle (42000 rpm, 18kW). This analysis is done in three stages. The first step is determining the self-excited frequencies of the robot structure for three different configurations of work. The second phase aims to analyze the dynamical vibration of the structure as the spindle is activated without cutting. The third stage consists of vibration analysis during a milling operation.
- Subjects :
- FOS: Computer and information sciences
0209 industrial biotechnology
Engineering
Robot calibration
Robot dynamical behavior
Automotive industry
Mechanical engineering
[PHYS.MECA.GEME]Physics [physics]/Mechanics [physics]/Mechanical engineering [physics.class-ph]
02 engineering and technology
Computer Science - Robotics
020901 industrial engineering & automation
industrial machining robot
0203 mechanical engineering
Machining
Nondestructive testing
Aerospace
business.industry
General Engineering
Robot behavior analysis
robotic machining applications
[SPI.MECA.GEME]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Mechanical engineering [physics.class-ph]
Vibration
020303 mechanical engineering & transports
Trajectory
Robot
business
Robotics (cs.RO)
Subjects
Details
- Language :
- English
- Database :
- OpenAIRE
- Journal :
- Journal of Advanced Materials Research, Journal of Advanced Materials Research, 2012, 423, pp.65-76. ⟨10.4028/www.scientific.net/AMR.423.65⟩
- Accession number :
- edsair.doi.dedup.....633e192ed0327d97a63834783965cb24