SIMULATION MODELING AND ANALYSIS IDENTIFICATION OF 5-AXIS ARTICULATED VERTICAL ROBOT FOR MACHINING INTEGRATION APPLICATIONS

This paper describes simulation modeling and analysis identification of 5-axis articulated vertical robot for machining integration applications. The standard methodology for the calculation of Cartesian house compliance supported joint compliances and Jacobian matrix is swollen and used for experimental 5-axis machining mechanism. Analytical analysis was conducted for effects of compliances of every joint separately on Cartesian house mechanism compliance. Through an experiment, the Cartesian house compliance is obtained by direct measuring of absolutely the displacements elicited by static forces on 3- orthogonal directions at the tool basketball shot the mechanism space for the case of 3-axis machining.