Abele, Eberhard ; Weigold, Matthias ; Rothenbücher, Stefan (2007)
Modeling and identification of an industrial robot for machining applications.
In: CIRP Annals - Manufacturing Technology, Elsevier, Manchester, 56 (1)
Artikel, Bibliographie
Kurzbeschreibung (Abstract)
Industrial robots represent a promising, cost-saving and flexible alternative for machining applications. Due to
the kinematics of a vertical articulated robot the system behavior is quite different compared to a conventional
machine tool. This article describes the modeling of the robot structure and the identification of its parameters
with focus on the analysis of the system’s stiffness and its behavior during the milling process. Therefore a
method for the calculation of the Cartesian stiffness based on the polar stiffness and the use of the Jacobian
matrix is introduced. Based on the results of the identification and the experimental validation the machining
performance of the robot is evaluated and conclusions are drawn.
| Typ des Eintrags: |
Artikel
|
| Erschienen: |
2007 |
| Autor(en): |
Abele, Eberhard ; Weigold, Matthias ; Rothenbücher, Stefan |
| Art des Eintrags: |
Bibliographie |
| Titel: |
Modeling and identification of an industrial robot for machining applications |
| Sprache: |
Englisch |
| Publikationsjahr: |
23 März 2007 |
| Titel der Zeitschrift, Zeitung oder Schriftenreihe: |
CIRP Annals - Manufacturing Technology, Elsevier, Manchester |
| Jahrgang/Volume einer Zeitschrift: |
56 |
| (Heft-)Nummer: |
1 |
| Kurzbeschreibung (Abstract): |
Industrial robots represent a promising, cost-saving and flexible alternative for machining applications. Due to
the kinematics of a vertical articulated robot the system behavior is quite different compared to a conventional
machine tool. This article describes the modeling of the robot structure and the identification of its parameters
with focus on the analysis of the system’s stiffness and its behavior during the milling process. Therefore a
method for the calculation of the Cartesian stiffness based on the polar stiffness and the use of the Jacobian
matrix is introduced. Based on the results of the identification and the experimental validation the machining
performance of the robot is evaluated and conclusions are drawn. |
| Schlagworte: |
| Einzelne Schlagworte | Sprache |
|---|
| Robot, Machining, Structure model | nicht bekannt |
|
| Fachbereich(e)/-gebiet(e): |
16 Fachbereich Maschinenbau
16 Fachbereich Maschinenbau > Institut für Produktionsmanagement und Werkzeugmaschinen (PTW) |
| Hinterlegungsdatum: |
23 Mär 2009 10:25 |
| Letzte Änderung: |
18 Mär 2020 12:06 |
| PPN: |
|
| Schlagworte: |
| Einzelne Schlagworte | Sprache |
|---|
| Robot, Machining, Structure model | nicht bekannt |
|
| Export: |
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