The use of industrial robots for manufacturing operations, such as milling, requires high structural stiffness to ensure precision. This paper presents a workspace analysis of the Comau NJ 130-2.6 robot from the standpoint of manipulability to evaluate its capabilities in exerting forces in any direction. Leveraging the Virtual Joint Method, the primary objective is to identify kinematic configurations that maximize the robot kinetostatic performance and manipulability. Furthermore, the proposed analysis determines optimal robot postures to minimize deflection under external forces and thus achieve higher precision in machining tasks.
Workspace Analysis of an Industrial Robot for Precision Machining Applications
Florean E.;Gasparetto A.
;Scalera L.;Vidoni R.
2027-01-01
Abstract
The use of industrial robots for manufacturing operations, such as milling, requires high structural stiffness to ensure precision. This paper presents a workspace analysis of the Comau NJ 130-2.6 robot from the standpoint of manipulability to evaluate its capabilities in exerting forces in any direction. Leveraging the Virtual Joint Method, the primary objective is to identify kinematic configurations that maximize the robot kinetostatic performance and manipulability. Furthermore, the proposed analysis determines optimal robot postures to minimize deflection under external forces and thus achieve higher precision in machining tasks.File in questo prodotto:
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