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Study of the application of a collaborative robot for machining tasks

机译：协同机器人应用加工任务的应用研究

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The importance of collaborative robots is increasing very fast in the industry. They have several advantages over the ‘classical’ robot arms: they may work side-by-side with humans, their environment needs less adaptation, they may be easily transported, etc. Their joints are more elastic than those in classical robots. For this reason, they are less suited for machining. In this work, a collaborative robot, a sensor of 6 Degree of Freedom (DOF) and a spindle with flex-shaft attachment are used to perform milling operations on soft materials. An inner/outer loop control is being developed to control the movements and the cutting forces. The experiments have been designed to evaluate the capability of the robot with milling operations with different parameters. An analysis of the dimensions and the finished surface will be carried out. The contribution of this article is to determine the possibilities and limitations of the collaborative robots in machining applications, with external control of forces.
机译：合作机器人的重要性在行业中越来越快。他们对“古典”机器人武器有几个优势：他们可以与人类并排工作，他们的环境需要更少的适应，它们可能很容易运输等等。它们的关节比古典机器人更有弹性。因此，它们不太适合加工。在这项工作中，协作机器人，6度自由度（DOF）的传感器和具有柔性轴附件的主轴用于对软材料进行铣削操作。正在开发内/外环控制以控制运动和切割力。实验旨在评估机器人的能力与不同参数的铣削操作。将进行对尺寸和成品表面的分析。本文的贡献是确定协作机器人在加工应用中的可能性和限制，具有外部控制力。

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