Modelling the dynamics of industrial robots for milling operations

[en] 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.

Disciplines :

Mechanical engineering

Author, co-author :

Huynh, Hoai ; Université de Mons > Faculté Polytechnique > Mécanique rationnelle, Dynamique et Vibrations

Assadi, Hamed

Rivière, Edouard ; Université de Mons > Faculté Polytechnique > Service de Génie Mécanique

Verlinden, Olivier ; Université de Mons > Faculté Polytechnique > Service de Mécanique rationnelle, Dynamique et Vibrations

Ahmadi, Keivan

Language :

English

Title :

Modelling the dynamics of industrial robots for milling operations

Publication date :

17 September 2019

Journal title :

Robotics and Computer-Integrated Manufacturing

ISSN :

0736-5845

Publisher :

Elsevier, United Kingdom

Volume :

Peer reviewed :

Peer Reviewed verified by ORBi

Research unit :

F703 - Mécanique rationnelle, Dynamique et Vibrations
F707 - Génie Mécanique
F107 - Systèmes, Estimation, Commande et Optimisation

Research institute :

R400 - Institut de Recherche en Science et Ingénierie des Matériaux

Available on ORBi UMONS :

since 17 September 2019

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Scopus citations^®

179

Scopus citations^®
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171

OpenCitations

OpenAlex citations

186

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