کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
5128795 1489602 2017 11 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Effect of Robot Dynamics on the Machining Forces in Robotic Milling
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مهندسی صنعتی و تولید
پیش نمایش صفحه اول مقاله
Effect of Robot Dynamics on the Machining Forces in Robotic Milling
چکیده انگلیسی

This paper analyzes the effect of robot structural dynamics on the forces produced in robotic milling. For this purpose, a dynamic milling force model incorporating the effect of robot dynamics and the effect of external forces on the robot stiffness is implemented. The force model employs prior work on dynamic modeling of milling forces where the influence of system compliance on the equilibrium or “steady state” uncut chip thickness is accounted for using iterative computation. The effect of milling forces on the robot arm stiffness is accounted for using the Conservative Congruence Transformation (CCT). Robotic milling experiments show ∼50% to 75% reduction in the predicted errors for key characteristics of the resultant milling forces with the dynamic model. The paper also analyzes the significance of the effect of robot dynamics on the resulting forces as a function of robot configuration (pose) and cutting conditions.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Procedia Manufacturing - Volume 10, 2017, Pages 486-496
نویسندگان
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