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Low Frequency Vibration Consideration in Tool-Path Computation of Two-Link Serial Manipulator for Improved Accuracy

[+] Author Affiliations
Denis Juschanin, Fisseha M. Alemayehu, Stephen Ekwaro-Osire

Texas Tech University, Lubbock, TX

Paper No. IMECE2014-39400, pp. V02AT02A055; 8 pages
  • ASME 2014 International Mechanical Engineering Congress and Exposition
  • Volume 2A: Advanced Manufacturing
  • Montreal, Quebec, Canada, November 14–20, 2014
  • Conference Sponsors: ASME
  • ISBN: 978-0-7918-4643-8
  • Copyright © 2014 by ASME


Industrial robots are flexible and cost-efficient tools for a multitude of applications such as, polishing, grinding, deburring, and welding. However, their utilization in machining tasks is currently limited due to insufficient position accuracy. This study aims to answer the research question: ‘Does including low frequency vibrations (mode coupling chatter) in tool path computation improve accuracy?’ For this purpose, the current paper focuses on setting-up a robust and flexible simulation framework. The framework implements a predictive cutting force method into a multibody dynamic (MBD) model of an industrial robot. The framework is structured in an extendable fashion for future research tasks. Future work will include mode coupling chatter into the MBD model to help mitigate the effects of chatter in robotic machining process, which in turn will increase tool-path accuracy.

Copyright © 2014 by ASME



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