Stiffness modeling and analysis of a multiple coordinated robot system

In this paper, we discuss about multiple coordinated robots that can form a fixtureless manufacturing cell. It is very important to ensure that the system stiffness is sufficient for manufacturing operations when external forces are exerted on the system. For this reason, a method is developed to mo...

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Bibliographic Details
Published in:International journal of advanced manufacturing technology 2018-02, Vol.94 (9-12), p.4265-4276
Main Authors: Tian, Yingzhong, Wang, Bowen, Liu, Jiaorong, Shen, Hao, Xi, Fengfeng, Li, Long
Format: Article
Language:English
Subjects:
CAE) and Design
Computer simulation
Computer-Aided Engineering (CAD
Engineering
Equipment purchasing
Industrial and Production Engineering
Manufacturing cells
Mechanical Engineering
Media Management
Multiple robots
Original Article
Robots
Stiffness
Citations: Items that this one cites
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Summary:In this paper, we discuss about multiple coordinated robots that can form a fixtureless manufacturing cell. It is very important to ensure that the system stiffness is sufficient for manufacturing operations when external forces are exerted on the system. For this reason, a method is developed to model and analyze the stiffness of a multiple coordinated robot system. In this paper, first, the stiffness of a multiple coordinated robot system is defined. Similar to a single-arm robot, this definition provides us with a criterion to evaluate the stiffness performance of the entire multiple robot system. Second, a static stiffness model is derived including joint stiffness and link stiffness, and then this model is extended to a multiple robot system. Third, the coordinated static stiffness model is validated, and a comparison is made through simulation between a dual robot system and a single robot system. Finally, the developed model is applied to a real coordinated dual-arm robot system for validation.
ISSN:0268-3768
1433-3015
DOI:10.1007/s00170-017-1085-4