Experimental Characterization of Robot Arm Rigidity in Order to Be Used   in Machining Operation
  Attempts to install a rotating tool at the end of a robot arm poly-articulated date back twenty years, but these robots were not designed for that. Indeed, two essential features are necessary for machining: high rigidity and precision in a given workspace. The experimental results presented are the dynamic identification of a poly-articulated robot equipped with an integrated spindle. This study aims to highlight the influence of the geometric configuration of the robot arm on the overall stiffness of the system. The spindle is taken into account as an additional weight on board but also as a dynamical excitation for the robot KUKA KR_240_2. Study of the robotic machining vibrations shows the suitable directions of movement in milling process 
Jean-Yves K'Nevez (I2M), Mehdi Cherif (I2M), Miron Zapciu (MPS), Alain   G\'erard (I2M)
cs.RO