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Stefano Baglioni,Filippo Cianetti,Claudio Braccesi,Denis Mattia De Micheli 대한기계학회 2016 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.30 No.1
Nowadays, with the large use of robot manipulators in the most different fields of industrial production, two main aims must be commonlyreached: robot dynamic behavior improvement and end-effector position errors reduction. For a N DOF robot arm, in case of specificapplications such as milling manufacturing, one of the main source of end-effector position errors can be identified with joint compliances. This aspect, well known in literature, has been confirmed by experimental tests and measurements carried out on a specificrobot assigned to non-standard milling manufacturing of marble objects (sculptures realization). To approach and analyze this issue theauthors chose the multibody simulation environment. Hence, the authors developed a parametric modelling procedure that, by determiningthe robot characteristics through CAD model and technical data sheet investigation, provides reliable multibody dynamic models ofgeneric N DOF robot arms. In this modelling approach the robot geometry construction is based on a standard strategy typical of thisresearch field (i.e. Denavit-Hartenberg, Veitschegger-Wu). The developed procedure enables to obtain robot representation at variouscomplexity levels according to the number of modelled robot components and actuation typology (Motion laws defined both in displacementor applied torque). Eventually, for a specific test case, the authors were able to correctly simulate the robot dynamic behavior,as it was demonstrated by numerical/experimental comparison. In this way the influence of the joint compliance behavior and actuatorrotational inertia effects on end-effector position accuracy was analyzed.
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