Abstract
Conventional industrial robots (IR) represent a cost-effective machining alternative for large components. However, due to the serial kinematics and the resulting high tool deflections, they usually lack precision. Model-based simulation and control methods are used to increase the accuracy of IR regarding both planning and the process itself. The majority of the applied models include the compliances of the gears and bearings but neglect the deformations of the manipulator bodies. This paper introduces an approach to directly measure and evaluate the deformation of robot bodies in the presence of process forces. The measurement setup contains multiple Integral Deformation Sensors (IDS), which provide the change of length due to deformations of the respective body. Subsequently, the measurements are fed to a beam model (BM), which calculates the body’s 3D Cartesian deflections. The presented approach is validated by static tensile tests on a conventional six-degree-of-freedom (DOF) robot manipulator.
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Acknowledgements
The IGF-project 21926 N/2 (RoSiKo) of the research association FVP (Forschungsver-einigung Programmiersprachen für Fertigungseinrichtungen e.V.) was supported via the AiF within the funding program “Industrielle Gemeinschaftsforschung und—entwicklung (IGF)” by the Federal Ministry of Economic Affairs and Climate Action (BMWK) due to a decision of the German Parliament. Furthermore, we gratefully acknowledge the support of the MABI Robotic AG and the support by D. Tipura and D. Vogel.
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Gründel, L., Schäfer, J., Storms, S., Brecher, C. (2023). Measurement Setup and Modeling Approach for the Deformation of Robot Bodies During Machining. In: Liewald, M., Verl, A., Bauernhansl, T., Möhring, HC. (eds) Production at the Leading Edge of Technology. WGP 2022. Lecture Notes in Production Engineering. Springer, Cham. https://doi.org/10.1007/978-3-031-18318-8_34
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