Comparison Study of Industrial Robots for High-Speed Machining

Alexandr Klimchik (1) , Alexandre Ambiehl (2, 3) , Sébastien Garnier (2) , Benoît Furet (3) , Anatol Pashkevich (4, 5)

1 Innopolis University
2 LS2N - Laboratoire des Sciences du Numérique de Nantes
3 LS2N - équipe RoMas - Robots and Machines for Manufacturing, Society and Services
4 IMT Atlantique - DAPI - Département Automatique, Productique et Informatique
5 LS2N - équipe ReV - Robotique Et Vivant

The paper presents methodology for comparison of industrial robots used for high-speed machining. Particular attention is paid to the robot accuracy in milling operation and evaluation robot capacity to perform the task with desired precision. In contrast to other works, the robot performance is evaluated using an industrial standard that is based on the distortion of the circular shape. The developed approach is applied to four industrial robots of KUKA family, which have been compared with respect to the machining precision.

Mots clés: Robot-based machining; Circularity index; Industrial robot; Stiffness model; Compliance errors; Robot comparison

Domaines: Automatique / Robotique; Sciences de l'ingénieur [physics]; Mécanique [physics.med-ph]

Alexandr Klimchik, Alexandre Ambiehl, Sébastien Garnier, Benoît Furet, Anatol Pashkevich. Comparison Study of Industrial Robots for High-Speed Machining. Mechatronics and Robotics Engineering for Advanced and Intelligent Manufacturing., Springer International Publishing, pp.135-149, 2017, Lecture Notes in Mechanical Engineering, ⟨10.1007/978-3-319-33581-0_11⟩. ⟨hal-01692886⟩