Experimental Characterization of Robot Arm Rigidity in Order to Be Used in Machining Operation

TL;DR

This paper experimentally characterizes the rigidity of a robot arm with an integrated spindle to assess its suitability for machining, focusing on how geometric configuration affects stiffness and vibration during milling.

Contribution

It provides dynamic identification data of a robot with an integrated spindle, highlighting the impact of geometric configuration on system stiffness for robotic machining.

Findings

Robot arm rigidity varies with geometric configuration.

Certain movement directions reduce machining vibrations.

Spindle addition influences system dynamics.

Abstract

Attempts to install a rotating tool at the end of a robot arm poly-articulated date back twenty years, but these robots were not designed for that. Indeed, two essential features are necessary for machining: high rigidity and precision in a given workspace. The experimental results presented are the dynamic identification of a poly-articulated robot equipped with an integrated spindle. This study aims to highlight the influence of the geometric configuration of the robot arm on the overall stiffness of the system. The spindle is taken into account as an additional weight on board but also as a dynamical excitation for the robot KUKA KR_240_2. Study of the robotic machining vibrations shows the suitable directions of movement in milling process