An experimental protocol was designed and developed

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configurations of the workspace is analyzed. An experimental protocol was designed and developed to highlight the dynamic characteristics of the robot This analysis is done in three stages: The first step is consisting on determining the self-excited frequencies in different configurations of work. The second phase aims to analyze dynamic vibration in the same time with the rotational speed. Finally, the third stage consists of vibration analysis during the milling process. Frequency analysis showed a small change in owns way their three configurations depending on the position. Measured frequencies were divided into two categories-Low Frequency Range LFR and HFR-High Frequency Range, putting it out through LFR frequency Waterfall diagram. The robot’s frequencies are identified in the case while the dynamic cutt ing process has been a significant increase in vibration basic configuration close to the robot base position P 1 from position P 2 . This increase in vibration is based on the fact that stiffness in the direction X is greater in position P 2 to the P 1 position. Dynamic analysis of robot behavior during the cutting process is performed through to enveloping method for low frequencies resonance identification, located in the range of 7-11 Hz, associated of the robot components. In perspective, an analysis of cutting forces measured during milling process correlated with measured vibrations will be made in order to highlight the dynamic behavior in different work configurations as well as analysis of surface regeneration. Spectrum cartography and a map of the stiffness of the robot workspace is one of the main insights of this research. On the other hand, further work plane at the creation of a model to optimize cutting parameters in order to obtain stability during the cutting process. Frequency results are needed both to highlight critical frequency and supply the dynamic model for the optimization and the monitoring of robotics machining tasks. Acknowledgement : This paper was supported by CNCSIS-UEFISCSU, project PNII-RUcode194/2010.
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13 7-10 September 2011 Bucharest Romania ICASAAM 2011 References [1] M. Summer, Robot capability test and development of industrial robot positioning system for the aerospace industry. In: SAE 2005 AeroTech Congress & Exhibition, Grapevine, TX, SAE Technical Papers 2005-01-3336, 2005. [2] W. Khalil, E. Dombre, Modeling, Identification and Control of Robots, Hermes Science Publications, 2002. [3] C. Lecerf-Dumas, S. Caro, M. Cherif, S. Garnier, B. Furet, A New Methodology for Joints Stiffness Identification of Serial Robots, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010) Taipei Editorial System, 2010. [4] J. Angeles, Fundamentals of Robotic Mechanical Systems, Theory, Methods and Algorithms, Third Edition, Springer, New York, 2007. (First Edition published in 1997).
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