Modular and reconfigurable simulation environment for evaluating the dynamic behavior of coupled robots performing milling tasks

Abstract

Industrial robots are increasingly used for many different applications. The flexibility of a robot system is limited by its weak stiffness and torque. Researchers try to address this problem by coupling multiple industrial robots to increase their capabilities. This paper describes a flexible and modular simulation environment with the goal to predict the dynamic behavior of single or multiple coupled robots performing complex tasks like milling. The reconfigurable system focuses on the interaction between the robotic system and the varying load spectrum. It is based on an extended multibody simulation and a precise material removal simulation to predict process forces.