Dynamic Simulation of the Six Axis Machining Robot for Trajectory Planning in CATIA-LMS

Abstract : 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.
keyword : Robotic LMS
Type de document :
Communication dans un congrès
Applied Mechanics and Materials. 9th International Conference on History of Mechanical Technology and Mechanical Design, Mar 2012, Tainan, Taiwan. 163, 2012, 74. 〈http://www.scientific.net/AMM.163.74〉. 〈10.4028/www.scientific.net/AMM.163.74〉
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https://hal.inria.fr/hal-00777417
Contributeur : Olivier Gibaru <>
Soumis le : jeudi 17 janvier 2013 - 14:53:07
Dernière modification le : mercredi 12 septembre 2018 - 01:26:55

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Yi Luo, Olivier Gibaru, Adel Olabi. Dynamic Simulation of the Six Axis Machining Robot for Trajectory Planning in CATIA-LMS. Applied Mechanics and Materials. 9th International Conference on History of Mechanical Technology and Mechanical Design, Mar 2012, Tainan, Taiwan. 163, 2012, 74. 〈http://www.scientific.net/AMM.163.74〉. 〈10.4028/www.scientific.net/AMM.163.74〉. 〈hal-00777417〉

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