Robot comparison based on local and global indices proposed and related to FSW welding and machining

This deliverable deals with the comparison of robots as a function of local and global indices related to machining operations of metallic and composite parts and friction stir welding. Some typical industrial operations are first presented. Then, some local and global performances indices are to machining operations of metallic and composite parts and friction stir welding are presented. A new method for the stiffness modeling of serial and parallel manipulators is also introduced. As a matter of fact, some performance indices depend on the stiffness of the manipulator under study. Finally, the proposed technique is illustrated by means of the comparison of three degrees of freedom translational manipulators.