Abele, Eberhard ; Bauer, Jörg ; Hemker, Thomas ; Laurischkat, R. ; Meier, H. ; Reese, S. ; 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, 4 (1)
doi: 10.1016/j.cirpj.2011.01.006
Article, Bibliographie
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, Eberhard ; Bauer, Jörg ; Hemker, Thomas ; Laurischkat, R. ; Meier, H. ; Reese, S. ; Stryk, Oskar von |
| Type of entry: | Bibliographie |
| Title: | Comparison and Validation of Implementations of a Flexible Joint Multibody Dynamics System Model for an Industrial Robot |
| Language: | English |
| Date: | 2011 |
| Journal or Publication Title: | CIRP Journal of Manufacturing Science and Technology |
| Volume of the journal: | 4 |
| Issue Number: | 1 |
| DOI: | 10.1016/j.cirpj.2011.01.006 |
| 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. |
| Divisions: | 16 Department of Mechanical Engineering 16 Department of Mechanical Engineering > Institute of Production Technology and Machine Tools (PTW) 16 Department of Mechanical Engineering > Institute of Production Technology and Machine Tools (PTW) > Machine tools and Components (2021 merged in TEC Fertigungstechnologie) 20 Department of Computer Science 20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group |
| Date Deposited: | 20 Jun 2016 23:26 |
| Last Modified: | 27 Jul 2020 08:34 |
| PPN: | |
| Export: | |
| Suche nach Titel in: | TUfind oder in Google |
 |
Send an inquiry |
Options (only for editors)
 |
Show editorial Details |
Drucken
Impressum