مدلسازی و شناسایی یک ربات صنعتی برای نرم افزار ماشینکاری

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.

The fields of application for industrial robots developed from the classical handling, assembly and welding tasks to a wide range of production applications, e.g. quality control and machining. Especially in new fields where high process loads are affecting the accuracy of the robot a lot of research work is currently done, e.g. robot shaping, friction stir welding, folding and cutting. This article describes a method of robot modeling and parameter identifying to analyze its properties and accuracy. The method described focuses on processes that induce bigger loads into the robot structure. The method is applicable for all of the above mentioned machining applications. However, the research was done especially for cutting operations. The following examinations were conducted particularly for vertical articulated robots which have a significant distribution in the manufacturing industry.