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Industrial robots for machining processes in combination with an additional actuation mechanism for error compensation

: Puzik, Arnold; Pott, Andreas; Meyer, Christian; Verl, Alexander

University of Warwick:
Manufacturing Research 2009. Conference proceedings : 8-10 September 2009, Warwick
Warwick, 2009
6 pp.
International Conference on Manufacturing Research (ICMR) <7, 2009, Warwick>
Conference Paper
Fraunhofer IPA ()
industrial robot; Fehlerkompensation; machining; Industrieroboter; Werkzeugwechsel; Werkzeugmaschine

This paper introduces a new and innovative method for tooling with an industrial robot. Today, tasks for a typical robot application are simple handling jobs such as pick and place from place A to B. For such pick and place operations the robot's repeatability is good enough.
Nevertheless, complex, flexible and precise handling systems are required. Specifically the market for tasks of tooling with robots has been growing recently. So the idea is to use the robot for tooling tasks since conventional metal cutting machine tools are high in price and inflexible. Thus, this article describes the development of an new idea, due to the named requirements. Furthermore, the comparison between existing methods and the new one are shown. Aspects and rules related to the design of an actuation mechanism based on elastic solid-state joints (ESSJ) are presented. Results of the iteratively finite element analysis (FEA) and designing are following as well as the achievements of such an actuation mechanism for error compensation.