Original scientific paper

Compliance Analysis of an Articulated Machining Robot

Nikola SLAVKOVIĆ
Saša ŽIVANOVIĆ
Dragan MILUTINOVIĆ
Miloš GLAVONJIĆ

Abstract

This paper describes analytically and experimentally based compliance modeling and identification of 5-axis vertical articulated machining robot. The conventional method for the calculation of Cartesian space compliance based on joint compliances and Jacobian matrix is expanded and used for experimental 5-axis machining robot. Analytical analysis was conducted for effects of compliances of each joint individually on Cartesian space robot compliance. Experimentally, the Cartesian space compliance is obtained by direct measurement of the absolute displacements evoked by static forces along 3- orthogonal directions at the tool tip in the robot workspace for the case of 3-axis machining.

Keywords

Robot; Machining; Compliance analysis

Hrčak ID:

93620

URI

https://hrcak.srce.hr/93620

Publication date:

29.6.2012.

Article data in other languages: croatian

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