Experimental study on investigation of dynamics of hexapod robot for mobile machining
Mobile machining with industrial robots is proposed to be a cost-effective and portable alternative to large-scale CNC machine tools in machining of large-scale parts designed in aerospace, nuclear manufacturing and energy industries. Although robotic machining offers several potential advantages, i...
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| Veröffentlicht in: | International journal of advanced manufacturing technology 2016-05, Vol.84 (5-8), p.817-830 |
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| container_title | International journal of advanced manufacturing technology |
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| creator | Tunc, Lutfi Taner Shaw, Jay |
| description | Mobile machining with industrial robots is proposed to be a cost-effective and portable alternative to large-scale CNC machine tools in machining of large-scale parts designed in aerospace, nuclear manufacturing and energy industries. Although robotic machining offers several potential advantages, it is also subject to major technical challenges. In this paper, the dynamics of a hexapod platform utilized for robotic milling is investigated in terms of rigidity, position-dependent dynamics and cross compliance caused by the complex kinematic chain. Considering the dynamic flexibility of the robotic platform, its effects on tool-tip dynamics are examined. The effect of the robot position relative to the workpiece on the dominant modes observed in transfer functions is discussed, which may be further used to locate the robot to attain better stability depending on the case. The dynamic responses at the moving platform and at the tool tip are measured through tap tests. Although the paper does not focus on modelling, the results can be generalized to mobile machining with hexapod robots. |
| doi_str_mv | 10.1007/s00170-015-7600-6 |
| format | Article |
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Although the paper does not focus on modelling, the results can be generalized to mobile machining with hexapod robots.</description><subject>Aerospace engineering</subject><subject>Aerospace industry</subject><subject>CAE) and Design</subject><subject>Computer-Aided Engineering (CAD</subject><subject>Dynamic stability</subject><subject>Engineering</subject><subject>Industrial and Production Engineering</subject><subject>Industrial robots</subject><subject>Machine tools</subject><subject>Mechanical Engineering</subject><subject>Media Management</subject><subject>Milling (machining)</subject><subject>Numerical controls</subject><subject>Original Article</subject><subject>Robotics</subject><subject>Robots</subject><subject>Transfer functions</subject><subject>Workpieces</subject><issn>0268-3768</issn><issn>1433-3015</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2016</creationdate><recordtype>article</recordtype><sourceid>AFKRA</sourceid><sourceid>BENPR</sourceid><sourceid>CCPQU</sourceid><sourceid>DWQXO</sourceid><recordid>eNp1UE1LAzEQDaJgrf4AbwHP0Xw12R6l1A8oeKnnkM1O2pTuZk220v57U1bwJAzMB--9mXkI3TP6yCjVT5lSpimhbEa0opSoCzRhUggiyugSTShXFRFaVdfoJuddQSumqgn6XB57SKGFbrB7nIdDc8Kxw6H7hjyEjR1C6aLHzamzbXD5XG_haPvY4BTrOGAfE25jHfaAW-u2oQvd5hZdebvPcPebp2j9slwv3sjq4_V98bwiTjA1EAc1q4Scae9qCaISqgbVODrnntNGy4o6ScF6MbdMg7VQA5eaQ-OE5MKLKXoYZfsUvw7lYLOLh9SVjYZzVUJzLguKjSiXYs4JvOnLwzadDKPmbJ4ZzTPFKXM2z6jC4SMnF2y3gfSn_D_pBzeKcxc</recordid><startdate>20160501</startdate><enddate>20160501</enddate><creator>Tunc, Lutfi Taner</creator><creator>Shaw, Jay</creator><general>Springer London</general><general>Springer Nature B.V</general><scope>AAYXX</scope><scope>CITATION</scope><scope>8FE</scope><scope>8FG</scope><scope>ABJCF</scope><scope>AFKRA</scope><scope>BENPR</scope><scope>BGLVJ</scope><scope>CCPQU</scope><scope>DWQXO</scope><scope>HCIFZ</scope><scope>L6V</scope><scope>M7S</scope><scope>PQEST</scope><scope>PQQKQ</scope><scope>PQUKI</scope><scope>PRINS</scope><scope>PTHSS</scope></search><sort><creationdate>20160501</creationdate><title>Experimental study on investigation of dynamics of hexapod robot for mobile machining</title><author>Tunc, Lutfi Taner ; 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| identifier | ISSN: 0268-3768 |
| ispartof | International journal of advanced manufacturing technology, 2016-05, Vol.84 (5-8), p.817-830 |
| issn | 0268-3768 1433-3015 |
| language | eng |
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| source | SpringerLink Journals - AutoHoldings |
| subjects | Aerospace engineering Aerospace industry CAE) and Design Computer-Aided Engineering (CAD Dynamic stability Engineering Industrial and Production Engineering Industrial robots Machine tools Mechanical Engineering Media Management Milling (machining) Numerical controls Original Article Robotics Robots Transfer functions Workpieces |
| title | Experimental study on investigation of dynamics of hexapod robot for mobile machining |
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