ForschungPublikationen
Enabling an Industrial Robot for Metal Cutting Operations

Enabling an Industrial Robot for Metal Cutting Operations

Kategorien Konferenz (reviewed)
Jahr 2015
Autoren Denkena, B., Lepper, T.:
Veröffentlicht in 15th Machining Innovations Conference for Aerospace Industry, Procedia CIRP 35 (2015), S. 79 – 84.
Beschreibung

This paper focuses on a cost-effective manufacturing of large frame parts for aerospace industries with an industrial robot. The main challenge is the low stiffness of a serial kinematic, resulting in positioning errors due to gravity and cutting forces. Therefore, an approach is presented to optimize positioning of a robot by compensation of tool deflection. A static deflection model of the robot is built up to calculate the deflection caused by forces acting on the spindle. To detect these forces a suitable measurement device is presented. This sensing spindle holder is calibrated to detect cutting forces.

DOI 10.1016/j.procir.2015.08.100