Usinage robotisé et applications : Performance et efficacité de la co-simulation pour des opérations d'usinage robotisé

In robotic machining, tool/workpiece interaction generates forces that affect the robotic arm's performance, leading to deflections due to its lower stiffness compared to milling machines, especially at the joints.These deflections can degrade machining quality, making trajectory and orientation optimization crucial.Optimization requires knowledge of the transient force field and a robot model.Currently, simulations use two in-house frameworks: EasyDyn for multibody dynamics and Dystamill for cutting force modeling.To improve modularity, a co-simulation approach is proposed, coupling the multibody system (MBS) of the robot with the workpiece using a displacement-force interaction.This method allows better integration of different robots and machining models, but comes at the cost of reduced accuracy compared to monolithic models.This research aims to evaluate the impact of this accuracy loss on a simplified model.