Robot comparison based on local and global indices proposed and related to FSW welding and machining

Stéphane Caro (1) , Anatol Pashkevich (1) , Gabriel Abba (2)

1 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes
2 LCFC - Laboratoire de Conception Fabrication Commande

This deliverable deals with the comparison of robots as a function of local and global indices related to machining operations of metallic and composite parts and friction stir welding. Some typical industrial operations are first presented. Then, some local and global performances indices are to machining operations of metallic and composite parts and friction stir welding are presented. A new method for the stiffness modeling of serial and parallel manipulators is also introduced. As a matter of fact, some performance indices depend on the stiffness of the manipulator under study. Finally, the proposed technique is illustrated by means of the comparison of three degrees of freedom translational manipulators.

Mots clés: Robot comparison; Local and global indices; FSW; Machining

Domaines: Automatique / Robotique

Stéphane Caro, Anatol Pashkevich, Gabriel Abba. Robot comparison based on local and global indices proposed and related to FSW welding and machining. [Research Report] Agence Nationale de la Recherche. 2014. ⟨hal-01092065⟩