Robot comparison based on local and global indices proposed and related to FSW welding and machining
TypeRapport de recherche
This deliverable deals with the comparison of robots as a function of local and global indices related to machining operations of metallic and composite parts and friction stir welding. Some typical industrial operations are first presented. Then, some local and global performances indices are to machining operations of metallic and composite parts and friction stir welding are presented. A new method for the stiffness modeling of serial and parallel manipulators is also introduced. As a matter of fact, some performance indices depend on the stiffness of the manipulator under study. Finally, the proposed technique is illustrated by means of the comparison of three degrees of freedom translational manipulators.
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KLIMCHIK, Alexandr; PASHKEVICH, Anatol; GARNIER, Sébastien; CARO, Stéphane; LEONARD, François; ABBA, Gabriel; QIN, Jinna (ABBA Gabriel, 2014)The objective of this report is to detail the models used in simulation and the results obtained in simulation for both machining and FSW process. This report contains in a first part the details of modeling flexibilities ...
KLIMCHIK, Alexandr; WU, Yier; ABBA, Gabriel; GARNIER, Sébastien; FURET, Benoit; PASHKEVICH, Anatol (IFAC, 2013)The paper focuses on the robust identification of geometrical and elastostatic parameters of robotic manipulator. The main attention is paid to the efficiency improvement of the identification algorithm. To increase the ...
KLIMCHIK, Alexandr; PASHKEVICH, Anatol; CARO, Stéphane (ABBA Gabriel, 2013)In robotic-based machining, an interaction between the workpiece and technological tool causes essential deflections that significantly decrease the manufacturing accuracy. Relevant compliance errors highly depend on the ...
KLIMCHIK, Alexandr; PASHKEVICH, Anatol (ABBA Gabriel, 2012)This report proposes a CAD-based approach for identification of the elasto-static parameters of the robotic manipulators. The main contributions are in the areas of virtual experiment planning and algorithmic data processing, ...
KLIMCHIK, Alexandr; PASHKEVICH, Anatol (ABBA Gabriel, 2012)The report presents an advanced stiffness modeling technique for parallel manipulators composed of perfect and non-perfect serial chains. The developed technique contributes both to the stiffness modeling of serial and ...