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hal.structure.identifierMachines and Production Systems Department [MPS]
dc.contributor.authorBISU, Claudiu-Florinel
hal.structure.identifierInstitut de Mécanique et d'Ingénierie de Bordeaux [I2M]
dc.contributor.authorCHERIF, Mehdi
IDREF: 077684893
hal.structure.identifierInstitut de Mécanique et d'Ingénierie de Bordeaux [I2M]
dc.contributor.authorGÉRARD, Alain
hal.structure.identifierInstitut de Mécanique et d'Ingénierie de Bordeaux [I2M]
dc.contributor.authorK'NEVEZ, Jean-Yves
dc.date.accessioned2021-05-14T10:04:55Z
dc.date.available2021-05-14T10:04:55Z
dc.date.created2011-07-27
dc.date.issued2012-02-03
dc.identifier.urihttps://oskar-bordeaux.fr/handle/20.500.12278/78533
dc.description.abstractEnThe six axis robots are widely used in automotive industry for their good repeatability (as defined in the ISO92983) (painting, welding, mastic deposition, handling etc.). In the aerospace industry, robot starts to be used for complex applications such as drilling, riveting, fiber placement, NDT, etc. Given the positioning performance of serial robots, precision applications require usually external measurement device with complexes calibration procedure in order to reach the precision needed. New applications in the machining field of composite material (aerospace, naval, or wind turbine for example) intend to use off line programming of serial robot without the use of calibration or external measurement device. For those applications, the position, orientation and path trajectory precision of the tool center point of the robot are needed to generate the machining operation. This article presents the different conditions that currently limit the development of robots in robotic machining applications. We analyze the dynamical behavior of a robot KUKA KR240-2 (located at the University of Bordeaux 1) equipped with a HSM Spindle (42000 rpm, 18kW). This analysis is done in three stages. The first step is determining the self-excited frequencies of the robot structure for three different configurations of work. The second phase aims to analyze the dynamical vibration of the structure as the spindle is activated without cutting. The third stage consists of vibration analysis during a milling operation.
dc.language.isoen
dc.subject.enRobot behavior analysis
dc.subject.enindustrial machining robot
dc.subject.enrobotic machining applications
dc.subject.enRobot dynamical behavior
dc.title.enDynamic behavior analysis for a six axis industrial machining robot
dc.typeArticle de revue
dc.identifier.doi10.4028/www.scientific.net/AMR.423.65
dc.subject.halSciences de l'ingénieur [physics]/Mécanique [physics.med-ph]/Génie mécanique [physics.class-ph]
dc.subject.halPhysique [physics]/Mécanique [physics]/Génie mécanique [physics.class-ph]
dc.identifier.arxiv1201.4443
bordeaux.journalJournal of Advanced Materials Research
bordeaux.page65-76
bordeaux.volume423
bordeaux.hal.laboratoriesInstitut de Mécanique et d’Ingénierie de Bordeaux (I2M) - UMR 5295*
bordeaux.institutionUniversité de Bordeaux
bordeaux.institutionBordeaux INP
bordeaux.institutionCNRS
bordeaux.institutionINRAE
bordeaux.institutionArts et Métiers
bordeaux.peerReviewedoui
hal.identifierhal-00661872
hal.version1
hal.origin.linkhttps://hal.archives-ouvertes.fr//hal-00661872v1
bordeaux.COinSctx_ver=Z39.88-2004&rft_val_fmt=info:ofi/fmt:kev:mtx:journal&rft.jtitle=Journal%20of%20Advanced%20Materials%20Research&rft.date=2012-02-03&rft.volume=423&rft.spage=65-76&rft.epage=65-76&rft.au=BISU,%20Claudiu-Florinel&CHERIF,%20Mehdi&G%C3%89RARD,%20Alain&K'NEVEZ,%20Jean-Yves&rft.genre=article


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