Stiffness-Oriented Placement Optimization of Machining Robots for Large Component Flexible Manufacturing System
A large component flexible manufacturing system provides more application scenarios for industrial robots, and, in turn, these robots exhibit competitive advantages in machining applications. However, the structural characteristic of low stiffness is the main obstacle for the industrial robot. Aimin...
| Main Authors: | , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2022-05-01
|
| Series: | Machines |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2075-1702/10/5/389 |
| _version_ | 1797498352542154752 |
|---|---|
| author | Yuan Xue Zezhong Sun Shiwei Liu Dong Gao Zefan Xu |
| author_facet | Yuan Xue Zezhong Sun Shiwei Liu Dong Gao Zefan Xu |
| author_sort | Yuan Xue |
| collection | DOAJ |
| description | A large component flexible manufacturing system provides more application scenarios for industrial robots, and, in turn, these robots exhibit competitive advantages in machining applications. However, the structural characteristic of low stiffness is the main obstacle for the industrial robot. Aiming at obtaining sufficient stiffness in the whole machining process, this paper focuses on robot placement optimization in the flexible manufacturing of large components. The geometric center of the machined feature is selected as, firstly, the base point, and the center-reachable placement space of the robot base is obtained by establishing the kinematic model considering a variety of motion constraints. Then, according to the reachability of the machining feature contour, the global placement space meeting all machining boundaries is further extracted. The mapping relationship between joint force and posture is established, and the most suitable robot placement is selected based on the criterion of global stiffness optimization. A series of numerical and finite element simulations verify the correctness and effectiveness of the proposed optimization strategy. The developed stiffness-oriented placement planning algorithm can provide beneficial references for robotic machining applications. |
| first_indexed | 2024-03-10T03:33:09Z |
| format | Article |
| id | doaj.art-c295122062e94043ac75881670ba4a00 |
| institution | Directory Open Access Journal |
| issn | 2075-1702 |
| language | English |
| last_indexed | 2024-03-10T03:33:09Z |
| publishDate | 2022-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Machines |
| spelling | doaj.art-c295122062e94043ac75881670ba4a002023-11-23T11:53:17ZengMDPI AGMachines2075-17022022-05-0110538910.3390/machines10050389Stiffness-Oriented Placement Optimization of Machining Robots for Large Component Flexible Manufacturing SystemYuan Xue0Zezhong Sun1Shiwei Liu2Dong Gao3Zefan Xu4School of Mechatronics Engineering, Harbin Institute of Technology, No. 92 Xidazhi Street, Harbin 150001, ChinaSchool of Mechatronics Engineering, Harbin Institute of Technology, No. 92 Xidazhi Street, Harbin 150001, ChinaState Key Laboratory of Robotics and System, Harbin Institute of Technology, No. 92 Xidazhi Street, Harbin 150001, ChinaSchool of Mechatronics Engineering, Harbin Institute of Technology, No. 92 Xidazhi Street, Harbin 150001, ChinaSchool of Mechatronics Engineering, Harbin Institute of Technology, No. 92 Xidazhi Street, Harbin 150001, ChinaA large component flexible manufacturing system provides more application scenarios for industrial robots, and, in turn, these robots exhibit competitive advantages in machining applications. However, the structural characteristic of low stiffness is the main obstacle for the industrial robot. Aiming at obtaining sufficient stiffness in the whole machining process, this paper focuses on robot placement optimization in the flexible manufacturing of large components. The geometric center of the machined feature is selected as, firstly, the base point, and the center-reachable placement space of the robot base is obtained by establishing the kinematic model considering a variety of motion constraints. Then, according to the reachability of the machining feature contour, the global placement space meeting all machining boundaries is further extracted. The mapping relationship between joint force and posture is established, and the most suitable robot placement is selected based on the criterion of global stiffness optimization. A series of numerical and finite element simulations verify the correctness and effectiveness of the proposed optimization strategy. The developed stiffness-oriented placement planning algorithm can provide beneficial references for robotic machining applications.https://www.mdpi.com/2075-1702/10/5/389placement optimizationlarge component flexible manufacturing systemrobotic machiningrobot stiffnessmotion constraints |
| spellingShingle | Yuan Xue Zezhong Sun Shiwei Liu Dong Gao Zefan Xu Stiffness-Oriented Placement Optimization of Machining Robots for Large Component Flexible Manufacturing System Machines placement optimization large component flexible manufacturing system robotic machining robot stiffness motion constraints |
| title | Stiffness-Oriented Placement Optimization of Machining Robots for Large Component Flexible Manufacturing System |
| title_full | Stiffness-Oriented Placement Optimization of Machining Robots for Large Component Flexible Manufacturing System |
| title_fullStr | Stiffness-Oriented Placement Optimization of Machining Robots for Large Component Flexible Manufacturing System |
| title_full_unstemmed | Stiffness-Oriented Placement Optimization of Machining Robots for Large Component Flexible Manufacturing System |
| title_short | Stiffness-Oriented Placement Optimization of Machining Robots for Large Component Flexible Manufacturing System |
| title_sort | stiffness oriented placement optimization of machining robots for large component flexible manufacturing system |
| topic | placement optimization large component flexible manufacturing system robotic machining robot stiffness motion constraints |
| url | https://www.mdpi.com/2075-1702/10/5/389 |
| work_keys_str_mv | AT yuanxue stiffnessorientedplacementoptimizationofmachiningrobotsforlargecomponentflexiblemanufacturingsystem AT zezhongsun stiffnessorientedplacementoptimizationofmachiningrobotsforlargecomponentflexiblemanufacturingsystem AT shiweiliu stiffnessorientedplacementoptimizationofmachiningrobotsforlargecomponentflexiblemanufacturingsystem AT donggao stiffnessorientedplacementoptimizationofmachiningrobotsforlargecomponentflexiblemanufacturingsystem AT zefanxu stiffnessorientedplacementoptimizationofmachiningrobotsforlargecomponentflexiblemanufacturingsystem |