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2019-09-17 - Article/Dans un journal avec peer-review - Anglais - 16 page(s)

Huynh Hoai , Assadi Hamed, Rivière Edouard , Verlinden Olivier , Ahmadi Keivan, "Modelling the dynamics of industrial robots for milling operations" in Robotics and Computer-Integrated Manufacturing, 61, 101852

  • Edition : Elsevier (United Kingdom)
  • Codes CREF : Mécanique appliquée générale (DI2100)
  • Unités de recherche UMONS : Mécanique rationnelle, Dynamique et Vibrations (F703), Génie Mécanique (F707), Automatique (F107)
  • Instituts UMONS : Institut de Recherche en Science et Ingénierie des Matériaux (Matériaux)
Texte intégral :

Abstract(s) :

(Anglais) Using industrial robots as machine tools is targeted by many industries for their lower cost and larger workspace. Nevertheless, performance of industrial robots is limited due to their mechanical structure involving rotational joints with a lower stiffness. As a consequence, vibration instabilities, known as chatter, are more likely to appear in industrial robots than in conventional machine tools. Commonly, chatter is avoided by using stability lobe diagrams to determine the stable combinations of axial depth of cut and spindle speed. Although the computation of stability lobes in conventional machine tools is a well-studied subject, developing them in robotic milling is challenging because of the lack of accurate multi-body dynamics models involving joint compliance able of predicting the posture-dependent dynamics of the robot. In this paper, two multi-body dynamics models of articulated industrial robots suitable for machining applications are presented. The link and rotor inertias along with the joint stiffness and damping parameters of the developed models are identified using a combination of multiple-input multiple-output identification approach, computer-aided design model of the robot, and experimental modal analysis. The performance of the developed models in predicting posture-dependent dynamics of a KUKA KR90 R3100 robotic arm is studied experimentally.

Identifiants :
  • DOI : https://doi.org/10.1016/j.rcim.2019.101852

Mots-clés :
  • (Anglais) Robot
  • (Anglais) Modal Analysis
  • (Anglais) Milling
  • (Anglais) Identification