Dynamic Simulation of the Six Axis Machining Robot for Trajectory Planning in CATIA-LMS
Nowadays six axis machining robots are widely used in many fields of industry.Compared to machine tools,industrial robots offer a cheaper yet more flexible alternative to the machine-tools in the cleaning and pre-machining applications of aluminum castings.But the low stiffness has limited the application of industrial robots to the machining tasks with very low precision requirement.This paper presents a practical approach to improve the robot-machining accuracy by developing an off-line simulation tool.Firstly we will complete the dynamic simulation of the 6-axis stiff model in CATIA-LMS for trajectory planning.Secondly we will set flexible joints and balancing system for the industry machining robot in LMS.Finally we will make some compare with the position trajectories generated by flexible joint and stiff joint,and then adjust the parameters under the references of the simulation result before the industry machining.
Machining Robots Dynamic Simulation Trajectory Planning Flexible Joint
Yi Luo Olivier Gibaru Adel Olabi
School of Manufacturing Engineering and Automation, Beihang University, Beijing, 100191, China Metrology and Applied Mathematics Laboratory(L2MA), ENSAM, Lille, France
国际会议
台湾
英文
74-78
2012-03-23（万方平台首次上网日期，不代表论文的发表时间）