Optimization of Robot Posture and Workpiece Setup in Robotic Milling With Stiffness Threshold
| Autor: | Jing-Rong Li, Qing-Hui Wang, Zhao-Yang Liao, Pan Hua, Xuefeng Zhou, Hai-Long Xie |
|---|---|
| Rok vydání: | 2022 |
| Předmět: |
0209 industrial biotechnology
Computer science Work (physics) Process (computing) Stiffness ComputerApplications_COMPUTERSINOTHERSYSTEMS 02 engineering and technology Computer Science Applications law.invention Computer Science::Robotics Industrial robot 020901 industrial engineering & automation Machining Control and Systems Engineering law Control theory Redundancy (engineering) medicine Robot Electrical and Electronic Engineering medicine.symptom Greedy algorithm ComputingMethodologies_COMPUTERGRAPHICS |
| Zdroj: | IEEE/ASME Transactions on Mechatronics. 27:582-593 |
| ISSN: | 1941-014X 1083-4435 |
| Popis: | Industrial robot provides a promising alternative in free-surface milling. However, due to its low stiffness, it is difficult to guarantee the machining quality. While existing research considers mainly the influence of robot posture on stiffness, the workpiece setup's influence is equally important. In this study, to ensure the overall workpiece's robot stiffness meets the requirement of stiffness threshold in robotic milling, a method for simultaneously optimizing the robot posture and the workpiece setup is proposed. Firstly, to evaluate the robot stiffness during machining, this work presents a new stiffness index considering the robot's rotational deformation. And then, an optimization model is established to optimize both the robot redundancy and the workpiece setup, considering the constraints of joint limitation, singularity-free and collision-free. Moreover, for complex free-surface, to obtain the minimum number of posture changes of the robot and workpiece under the premise of meeting the limit of stiffness threshold, this work constructs a minimum set covering problem, which is solved by a clustering algorithm and a greedy algorithm. Finally, simulations and experimental studies are conducted to validate the effectiveness of the proposed robot stiffness index and the proposed optimization method, showing that the robot stiffness is improved during a milling process of the entire workpiece. |
| Databáze: | OpenAIRE |
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