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Comparison and Validation of Implementations of a Flexible Joint Multibody Dynamics System Model for an Industrial Robot

Abele, E. and Bauer, J. and Hemker, Thomas and Laurischkat, R. and Meier, H. and Reese, S. and Stryk, Oskar von and Stryk, Oskar von (2011):
Comparison and Validation of Implementations of a Flexible Joint Multibody Dynamics System Model for an Industrial Robot.
In: CIRP Journal of Manufacturing Science and Technology, pp. 38-43, 4, (1), DOI: 10.1016/j.cirpj.2011.01.006,
[Article]

Abstract

In this paper, different implementations of elastic joint models of industrial robots are described and compared established in ADAMS and SimMechanics. The models are intended to be used for path prediction under process force load due to Roboforming and High Speed Cutting, respectively. The computational results have been compared and showed good agreement. In experiments of robot forming and robot milling the measured and simulated path deviations according to the process force are compared. The experiments are descriped and the results are discussed within the paper as a basis of a next step model based compensation of the path deviation.

Item Type: Article
Erschienen: 2011
Creators: Abele, E. and Bauer, J. and Hemker, Thomas and Laurischkat, R. and Meier, H. and Reese, S. and Stryk, Oskar von and Stryk, Oskar von
Title: Comparison and Validation of Implementations of a Flexible Joint Multibody Dynamics System Model for an Industrial Robot
Language: English
Abstract:

In this paper, different implementations of elastic joint models of industrial robots are described and compared established in ADAMS and SimMechanics. The models are intended to be used for path prediction under process force load due to Roboforming and High Speed Cutting, respectively. The computational results have been compared and showed good agreement. In experiments of robot forming and robot milling the measured and simulated path deviations according to the process force are compared. The experiments are descriped and the results are discussed within the paper as a basis of a next step model based compensation of the path deviation.

Journal or Publication Title: CIRP Journal of Manufacturing Science and Technology
Volume: 4
Number: 1
Divisions: 20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
Date Deposited: 20 Jun 2016 23:26
DOI: 10.1016/j.cirpj.2011.01.006
Identification Number: 2011:Abele_etal_JMST
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