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Multibody modelling of N DOF robot arm assigned to milling manufacturing. Dynamic analysis and position errors evaluation

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Abstract

Nowadays, with the large use of robot manipulators in the most different fields of industrial production, two main aims must be commonly reached: robot dynamic behavior improvement and end-effector position errors reduction. For a N DOF robot arm, in case of specific applications such as milling manufacturing, one of the main source of end-effector position errors can be identified with joint compliances. This aspect, well known in literature, has been confirmed by experimental tests and measurements carried out on a specific robot assigned to non-standard milling manufacturing of marble objects (sculptures realization). To approach and analyze this issue the authors chose the multibody simulation environment. Hence, the authors developed a parametric modelling procedure that, by determining the robot characteristics through CAD model and technical data sheet investigation, provides reliable multibody dynamic models of generic N DOF robot arms. In this modelling approach the robot geometry construction is based on a standard strategy typical of this research field (i.e. Denavit-Hartenberg, Veitschegger-Wu). The developed procedure enables to obtain robot representation at various complexity levels according to the number of modelled robot components and actuation typology (Motion laws defined both in displacement or applied torque). Eventually, for a specific test case, the authors were able to correctly simulate the robot dynamic behavior, as it was demonstrated by numerical/experimental comparison. In this way the influence of the joint compliance behavior and actuator rotational inertia effects on end-effector position accuracy was analyzed.

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Authors and Affiliations

  1. Department of Engineering, University of Perugia, via G. Duranti 67, Perugia, 06125, Italy

    Stefano Baglioni, Filippo Cianetti & Claudio Braccesi

  2. S.M. Scienzia Machinale s.r.l., Via Giuntini,12/25, 56023, Navacchio di Cascina (PI), Italy

    Denis Mattia De Micheli

Authors
  1. Stefano Baglioni
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  2. Filippo Cianetti
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  3. Claudio Braccesi
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  4. Denis Mattia De Micheli
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Corresponding author

Correspondence to Stefano Baglioni.

Additional information

Stefano Baglioni received the master’s degree in engineering from University of Perugia (Italy) in 2012 and Ph.D. in Mechanical Engineering in 2015 at the same University. Dr. Baglioni is currently a post doc researcher at the department of engineering at Perugia University, Italy.

Filippo Cianetti received the master’s degree in engineering from University of Perugia (Italy) in 1990. Dr. Cianetti is currently associate professor of Machine Design at the department of engineering at Perugia University, Italy.

Claudio Braccesi received the master’s degree in engineering from University of Florence (Italy) in 1982. Dr. Braccesi is currently full professor of Machine Design at the department of engineering at Perugia University, Italy.

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Baglioni, S., Cianetti, F., Braccesi, C. et al. Multibody modelling of N DOF robot arm assigned to milling manufacturing. Dynamic analysis and position errors evaluation. J Mech Sci Technol 30, 405–420 (2016). https://doi.org/10.1007/s12206-015-1245-0

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  • DOI: https://doi.org/10.1007/s12206-015-1245-0

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