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Título
Influence of the velocity on quasi-static deflections of industrial articulated robotsAutor-a (de otra institución)
Otras instituciones
KTH Royal Institute of TechnologyMMAEN, S.L.
Ideko (Spain)
École Supérieure des Technologies Industrielles Avancées (ESTIA)
Versión
Version publicada
Derechos
© 2023 The AuthorsAcceso
Acceso abiertoVersión del editor
https://doi.org/10.1007/s00170-022-10661-xPublicado en
International Journal of Advanced Manufacturing Technology 2023Editor
SpringerPalabras clave
Industrial robotContact applications
Quasi-statics
Compliance
Resumen
This article presents the measurement and analysis of the influence of velocity on the quasi-static deflections of industrial manipulators of three different manufacturers. Quasi-static deflection ref ... [+]
This article presents the measurement and analysis of the influence of velocity on the quasi-static deflections of industrial manipulators of three different manufacturers. Quasi-static deflection refers to the deflection of the end effector position of articulated robots during movement at low velocity along a predefined trajectory. Based on earlier reported observations by the authors, there exists a difference in the static and quasi-static deflections considering the same points along a trajectory. This work investigates this difference to assess the applicability of robotic compliance calibration at low velocities. For this assessment, the deflections of three industrial articulated robots were measured at different speeds and loads. Considering the similarity among the robot models used in this investigation, this work also elaborates on the potential influence of the measurement procedure on the measured deflections and its implications for the compliance calibration of articulated robots. For all industrial articulated robots in this investigation, the quasi-static deflections are significantly larger than the static ones but similar in trend. Additionally, the magnitude of the quasi-static deflections presents a proportional relationship to the Cartesian velocity. [-]
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- Artículos - Ingeniería [639]
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