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Open AccessArticle

Analysis of the Compliance Properties of an Industrial Robot with the Mozzi Axis Approach

Department of Industrial Engineering, University of Padova, 35131 Padova, Italy
Department of Management and Engineering, University of Padova, 36100 Vicenza, Italy
Author to whom correspondence should be addressed.
Robotics 2019, 8(3), 80;
Received: 2 August 2019 / Revised: 5 September 2019 / Accepted: 9 September 2019 / Published: 11 September 2019
(This article belongs to the Special Issue Advances in Italian Robotics)
In robotic processes, the compliance of the robot arm plays a very important role. In some conditions, for example, in robotic assembly, robot arm compliance can compensate for small position and orientation errors of the end-effector. In other processes, like machining, robot compliance may generate chatter vibrations with an impairment in the quality of the machined surface. In industrial robots, the compliance of the end-effector is chiefly due to joint compliances. In this paper, joint compliances of a serial six-joint industrial robot are identified with a novel modal method making use of specific modes of vibration dominated by the compliance of only one joint. Then, in order to represent the effect of the identified compliances on robot performance in an intuitive and geometric way, a novel kinematic method based on the concept of “Mozzi axis” of the end-effector is presented and discussed. View Full-Text
Keywords: robot; compliance; machining; modal testing; Mozzi axis robot; compliance; machining; modal testing; Mozzi axis
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Doria, A.; Cocuzza, S.; Comand, N.; Bottin, M.; Rossi, A. Analysis of the Compliance Properties of an Industrial Robot with the Mozzi Axis Approach. Robotics 2019, 8, 80.

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