Machining with serial and quasi-serial industrial robots: comparison analysis and architecture limitations

被引：0

作者：

Klimchik, A. ^{[1
]}

Magid, E. ^{[1
]}

Pashkevich, A. ^{[2
,3
]}

机构：

[1] Innopolis Univ, Univ Skaya St 1, Innopolis 420500, Russia

[2] Ecole Mines Nantes, 4 Rue Alfred Kastler, F-44307 Nantes, France

[3] IRCCyN, F-44321 Nantes, France

来源：

2016 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2016) | 2016年

关键词：

Robot-based machining; serial vs. parallel; optimal task placement; industrial robot; stiffness model; COMPENSATION; MANIPULATORS; CALIBRATION; IMPROVEMENT; SELECTION; DESIGN; ERRORS; INDEX;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

The paper deals with comparison study of serial and quasi-serial industrial robots used for machining operations. It proposes a new methodology for robot ranking, which is based on estimation of the end-effector resistance to cutting forces for several machining tasks, which are optimally located within the robot workspace. To cover wide range of applications, a set of isotropic, quasi-isotropic and extended benchmark tasks are considered. It is shown that regardless of the benchmark problem, seral manipulators are preferable for small and medium tasks while quasi-serial ones' better suit large-dimensional tasks. The proposed technique was applied for the comparison analysis of 10 industrial robots of both serial and quasi-serial architectures with similar working radius and pay-load of about 200 kg.

引用

页码：252 / 259

页数：8

共 31 条

[1] A systematic technique to estimate positioning errors for robot accuracy improvement using laser interferometry based sensing [J].

Alici, G ;

Shirinzadeh, B .

MECHANISM AND MACHINE THEORY, 2005, 40 (08) :879-906

[2] Off-line compensation of the tool path deviations on robotic machining: Application to incremental sheet forming [J].

Belchior, J. ;

Guillo, M. ;

Courteille, E. ;

Maurine, P. ;

Leotoing, L. ;

Guines, D. .

ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING, 2013, 29 (04) :58-69

[3] Multi-objective optimal design based kineto-elastostatic performance for the DELTA parallel mechanism [J].

Bounab, Belkacem .

ROBOTICA, 2016, 34 (02) :258-273

[4] Generic modelling of milling forces for CAD/CAM applications [J].

Chérif, M ;

Thomas, H ;

Furet, B ;

Hascoët, JY .

INTERNATIONAL JOURNAL OF MACHINE TOOLS & MANUFACTURE, 2004, 44 (01) :29-37

[5] Enabling an Industrial Robot for Metal Cutting Operations [J].

Denkena, Berend ;

Lepper, Thomas .

MIC2015 -15TH MACHINING INNOVATIONS CONFERENCE FOR AEROSPACE INDUSTRY, 2015, 35 :79-84

[6] Compensation of geometric and elastic errors in large manipulators with an application to a high accuracy medical system [J].

Drouet, P ;

Dubowsky, S ;

Zeghloul, S ;

Mavroidis, C .

ROBOTICA, 2002, 20 :341-352

[7] Joint stiffness identification of industrial serial robots [J].

Dumas, Claire ;

Caro, Stephane ;

Cherif, Mehdi ;

Garnier, Sebastien ;

Furet, Benoit .

ROBOTICA, 2012, 30 :649-659

[8] A GLOBAL PERFORMANCE INDEX FOR THE KINEMATIC OPTIMIZATION OF ROBOTIC MANIPULATORS [J].

GOSSELIN, C ;

ANGELES, J .

JOURNAL OF MECHANICAL DESIGN, 1991, 113 (03) :220-226

[9] Impact & improvement of tool deviation in friction stir welding: Weld quality & real-time compensation on an industrial robot [J].

Guillo, Mario ;

Dubourg, Laurent .

ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING, 2016, 39 :22-31

[10] Vibration analysis and suppression in robotic boring process [J].

Guo, Yingjie ;

Dong, Huiyue ;

Wang, Guifeng ;

Ke, Yinglin .

INTERNATIONAL JOURNAL OF MACHINE TOOLS & MANUFACTURE, 2016, 101 :102-110

← 1 2 3 4 →