Development and Modeling of Robotic Manufacturing Cell for Experimental Purposes

Abstract

The article presents the research performed by the authors in the field of robotic machining with self-driven tools, focusing on low power deburring operations performed by six degrees of freedom articulated arm robots. The works include layout development, modeling and simulation of a flexible manufacturing cell for machining operations. The research presented in this article is focused on two main goals: first, to show and evaluate the influence of trajectory target points coordinates (determined by the workpiece installation position) on machining parameters and force/torque values in each robot's joint; and second, to elaborate the mathematical model of the robot arm in order to use it in future research as an intermediate stage of comparison between the theoretical model used in virtual environment simulations and the real robotic arm structure and behaviour in experimental operations.