مقایسه و اعتبارسنجی پیاده سازی مدل انعطاف پذیر سیستم دینامیک چندبدنه مشترک برای یک ربات صنعتی

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.

Industrial robots are widely used in various fields of application. However, when it comes to tasks where high stiffness of the machine is required, usually structural robust machine tools are used instead of industrial robots. Industrial robots, on the other hand, have a high work space and are very versatile in terms of possible applications. The goal of ongoing projects for two specific purposes, namely high speed cutting and Roboforming, is to overcome the deviations resulting from the elasticities by modifying the trajectories of the joint angles offline. No additional sensors or other modifications to the robot hardware are necessary. By combining computational models of both the robot and the Roboforming or high speed cutting process the behavior of the robot, the process and their interaction can be predicted. In a second step, upon this data the undesired effects can be compensated.