Stiffness modeling of industrial robots for deformation compensation in machining

Schneider, Ulrich; Momeni-K, Mahdi; Ansaloni, Matteo; Verl, Alexander

doi:10.1109/iros.2014.6943194

Cited by 43 publications

(17 citation statements)

References 10 publications

(8 reference statements)

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“…Given the dynamic properties to compensate the machining errors, Schneider et al [76] developed an elastic solid-state joint-based method which allows to adjust system stiffness in two orthogonal directions independently. Then, a set of experiments were carried by Olof et al [77], of which results showed that a milling accuracy ± 12 μm was achieved in both face and radial milling. Schneider et al…”

Section: Fixed Spindle In Robotic Machining (C1)mentioning

confidence: 99%

Industrial robotic machining: a review

Wang

2019

Int J Adv Manuf Technol

254

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For the past three decades, robotic machining has attracted a large amount of research interest owning to the benefit of cost efficiency, high flexibility and multi-functionality of industrial robot. Covering articles published on the subjects of robotic machining in the past 30 years or so; this paper aims to provide an up-to-date review of robotic machining research works, a critical analysis of publications that publish the research works, and an understanding of the future directions in the field. The research works are organised into two operation categories, low material removal rate (MRR) and high MRR, according their machining properties, and the research topics are reviewed and highlighted separately. Then, a set of statistical analysis is carried out in terms of published years and countries. Towards an applicable robotic machining, the future trends and key research points are identified at the end of this paper.

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Section: Fixed Spindle In Robotic Machining (C1)mentioning

confidence: 99%

Industrial robotic machining: a review

Wang

2019

Int J Adv Manuf Technol

254

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“…Linear descriptions of the stiffness inverse cannot describe the nonlinear character of gear deformation, therefore nonlinear functions are used to model the single stiffness. This allows to integrate effects such as backlash and play of the bearings in the model [17]. Complexity of this proposed model is not the definition of DoF, but is the identification of model parameters.…”

Section: Stiffness Modeling and Identification Of Industrial Robotsmentioning

confidence: 99%

Automatic pose optimization for robotic processes

Schneider

Posada

Verl

2015

2015 IEEE International Conference on Robotics and Automation (ICRA)

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In many robotic processes such as milling and drilling, there are multiple solutions for robot poses, as the rotation around the tool axis remains as a degree of freedom (DoF) in positioning. Yet until now, this DoF causes additional efforts in CAM programming as it requires manual intervention. Instead, this DoF can be used to optimize the robot pose according to different criteria of the robot such as stiffness or avoidance of backlash effects. This paper presents different criteria for optimization of the robot pose in machining and describes the optimization of robot stiffness based on a novel method for its identification, which is in detail described on this paper. Furthermore, the potential of the automatic resolution of the DoF is outlined enabling staff without robot knowledge to define reasonable robot paths

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“…Industrial robots are being more widely used in a variety of industrial applications, such as handling, palletizing, and some machining applications, including milling, drilling, and friction stir welding (FSW) due to their advantages of large workspace, compact structure, good flexibility, and low cost compared with machine tools. [1][2][3][4] The compliance of reducers and the elasticity of links make the stiffness of the industrial robots worse; the stiffness of a large six-degree-of-freedom (DOF) industrial robot is usually lower than 1 N/ mm; however, the stiffness of a standard computer numerical control (CNC) machine tool is usually higher than 50 N/mm. 5 Due to the relatively low stiffness, industrial robots always suffered from static and dynamical deformations or chatter vibrations induced by external forces applied on the end-effector during the machining process.…”

Section: Introductionmentioning

confidence: 99%

An approximation method for stiffness calculation of robotic arms with hybrid open- and closed-loop kinematic chains

Sun

Fang

2018

Advances in Mechanical Engineering

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Industrial robots have advantages of large workspace, compact structure, and good flexibility, but the stiffness of the robot is relatively weak due to the compliance of reducers and its series structure. In this article, a five-degree-of-freedom robot with non-backlash driving is presented. A parallelogram structure with diagonal driven is used for robotic arms which is useful to improve the overall stiffness of the robot. First, the detailed structure of the robot is introduced, and the kinematic characteristics of the robot are analyzed. Second, a stiffness approximation method is proposed to evaluate the stiffness of the robot in the global workspace. The overall deformations under certain external loads which are composed of deflection deformations and stretching deformations are calculated based on the strain energy method and the properties of the components. The effectiveness of the approximation method used for evaluating the stiffness of the robot which has hybrid open-and closed-loop kinematic chains is verified through the finite element analysis results and the experimental results. Finally, the stiffness evaluation results show that the stiffness of the proposed robot is better than that of the industrial robot, which makes it more suitable for most of the industrial applications, such as handling, palletizing, and drilling.

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Stiffness modeling of industrial robots for deformation compensation in machining

Cited by 43 publications

References 10 publications

Industrial robotic machining: a review

Industrial robotic machining: a review

Automatic pose optimization for robotic processes

An approximation method for stiffness calculation of robotic arms with hybrid open- and closed-loop kinematic chains

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