Abstract: | |
This paper focuses on a cost-effective manufacturing of large frame parts for aerospace industries with an industrial robot. The main challenge is the low stiffness of a serial kinematic, resulting in positioning errors due to gravity and cutting forces. Therefore, an approach is presented to optimize positioning of a robot by compensation of tool deflection. A static deflection model of the robot is built up to calculate the deflection caused by forces acting on the spindle. To detect these forces a suitable measurement device is presented. This sensing spindle holder is calibrated to detect cutting forces.
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License of this version: | CC BY-NC-ND 4.0 Unported - https://creativecommons.org/licenses/by-nc-nd/4.0/ |
Publication type: | Article |
Publishing status: | publishedVersion |
Publication date: | 2015 |
Keywords english: | compensation, force measurement, machining robot, process monitoring, Aerospace industry, Compensation (personnel), Cost effectiveness, Cutting, Force measurement, Industrial robots, Process monitoring, Robots, Cost effective, Cutting forces, Cutting operations, Machining robot, Measurement device, Positioning error, Static deflections, Tool deflection, Metal cutting |
DDC: | 600 | Technik, 330 | Wirtschaft |
Controlled keywords(GND): | Konferenzschrift |
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