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2023 | OriginalPaper | Chapter

Measurement Setup and Modeling Approach for the Deformation of Robot Bodies During Machining

Authors : L. Gründel, J. Schäfer, S. Storms, C. Brecher

Published in: Production at the Leading Edge of Technology

Publisher: Springer International Publishing

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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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Title: Measurement Setup and Modeling Approach for the Deformation of Robot Bodies During Machining
Authors: L. Gründel
J. Schäfer
S. Storms
C. Brecher
Publisher: Springer International Publishing
Book: Production at the Leading Edge of Technology
Print ISBN: 978-3-031-18317-1

Electronic ISBN: 978-3-031-18318-8

Copyright Year: 2023
DOI: https://doi.org/10.1007/978-3-031-18318-8_34

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