Performance Analysis of 7-DOF Robotic Arm for Drilling and Milling Applications

The performance of 7-DOF robotic arm is analyzed in terms of linear and angular external impulses for drilling and milling applications. While performing drilling, milling, and rotary cutting tasks, continuous linear and angular impulsive motions are required between teeth of the tool and the object. Accordingly, manipulator should be capable to generate enough linear and angular impulses to perform these tasks. In this paper, an analytical solution of linear and angular external impulses is proposed. The performance of 7-DOF is analyzed in terms of belted ellipsoid which denotes the ability of manipulator to generate linear and angular external impulses. Finally, the proposed methodology is validated by performing simulations for drilling and milling tasks.