Stiffness evaluation of a metalforming industrial robot

ESQUIVEL, E, RODRIGUEZ, P, CARBONE, Giuseppe, CECCARELLI, M and JAUREGUI, J C (2018). Stiffness evaluation of a metalforming industrial robot. International Journal of Mechanics and Control, 19 (1), 61-68.

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Abstract

This paper proposes a Cartesian stiffness matrix evaluation method for 6DOF industrial robots. First, the tool center point (TCP) deviation as result of the low stiffness of robots is analysed. For different metalforming areas, the low stiffness conducts to common defects on the quality product, such defects and their relations are studied. A model-based solution for the Cartesian stiffness matrix and a joint compliance evaluating method are proposed. A Fanuc 200IC industrial serial robot and Matlab software are used for the experimental procedure. Finally, the joint stiffness results agreed well to the TCP orientations corresponding to 1 mm deviation for an extended robot pose. Future works will focus on the external load application system in order to characterize the stiffness map using a complete wrench vector.

Item Type:	Article
Research Institute, Centre or Group - Does NOT include content added after October 2018:	Materials and Engineering Research Institute > Modelling Research Centre > Microsystems and Machine Vision Laboratory
Page Range:	61-68
Depositing User:	Carmel House
Date Deposited:	19 Jun 2018 08:29
Last Modified:	18 Mar 2021 11:52
URI:	https://shura.shu.ac.uk/id/eprint/21608

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