Accuracy of Milling by Robots with Two-Motor Servo Drives

Abstract

The accuracy of robot motion over circular trajectories in milling is analyzed. The milling motion is compared for a robot with precision two-motor servo drives tracking the position of manipulator links; and a robot with traditional gear drives tracking the position of the motor shaft. Computer modeling indicates that it is expedient to use precision two-motor drives in robots for milling and other operations that require highly accurate motion.