Configuration Optimization and Response Prediction Method of the Clamping Robot for Vibration Suppression of Cantilever Workpiece
Cantilever workpieces are widely used in the aerospace field; they produce vibrations easily and affect machining quality under the action of external forces. Enhancing the stiffness of the workpiece using a robot as a fixture is an effective means to solve this problem. However, the vibration suppr...
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-04-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/13/8/4863 |
| _version_ | 1797606590980816896 |
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| author | Pinzhang Wang Wei Tian Bo Li Yunfei Miao |
| author_facet | Pinzhang Wang Wei Tian Bo Li Yunfei Miao |
| author_sort | Pinzhang Wang |
| collection | DOAJ |
| description | Cantilever workpieces are widely used in the aerospace field; they produce vibrations easily and affect machining quality under the action of external forces. Enhancing the stiffness of the workpiece using a robot as a fixture is an effective means to solve this problem. However, the vibration suppression effect of the clamping system depends on the dynamics performance of different configurations of the robot. Therefore, in order to obtain the optimal clamping robot configuration, the system dynamics model composed of automated guided vehicle (AGV)-robot-gripper-workpiece (ARGW) is established based on the transfer matrix method of the multibody system (MSTMM), and the vibration responses of the workpiece under different configurations are analyzed. Then, a robot configuration optimization method based on workpiece response was proposed. Finally, the effectiveness of the optimization method is verified through simulations and experiments at different clamping robot configurations. The dynamics model and optimization method in this paper can be used to predict the workpiece vibration response and choose a reasonable clamping robot configuration, avoiding the reduction in workpiece machining quality due to the improper configuration of the clamping robot. |
| first_indexed | 2024-03-11T05:17:21Z |
| format | Article |
| id | doaj.art-e0bb0e4025394787a596d16db8f49462 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-11T05:17:21Z |
| publishDate | 2023-04-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-e0bb0e4025394787a596d16db8f494622023-11-17T18:10:21ZengMDPI AGApplied Sciences2076-34172023-04-01138486310.3390/app13084863Configuration Optimization and Response Prediction Method of the Clamping Robot for Vibration Suppression of Cantilever WorkpiecePinzhang Wang0Wei Tian1Bo Li2Yunfei Miao3College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, ChinaCollege of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, ChinaCollege of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, ChinaCollege of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, ChinaCantilever workpieces are widely used in the aerospace field; they produce vibrations easily and affect machining quality under the action of external forces. Enhancing the stiffness of the workpiece using a robot as a fixture is an effective means to solve this problem. However, the vibration suppression effect of the clamping system depends on the dynamics performance of different configurations of the robot. Therefore, in order to obtain the optimal clamping robot configuration, the system dynamics model composed of automated guided vehicle (AGV)-robot-gripper-workpiece (ARGW) is established based on the transfer matrix method of the multibody system (MSTMM), and the vibration responses of the workpiece under different configurations are analyzed. Then, a robot configuration optimization method based on workpiece response was proposed. Finally, the effectiveness of the optimization method is verified through simulations and experiments at different clamping robot configurations. The dynamics model and optimization method in this paper can be used to predict the workpiece vibration response and choose a reasonable clamping robot configuration, avoiding the reduction in workpiece machining quality due to the improper configuration of the clamping robot.https://www.mdpi.com/2076-3417/13/8/4863clamping robotdynamics modelconfiguration optimizationvibration suppression |
| spellingShingle | Pinzhang Wang Wei Tian Bo Li Yunfei Miao Configuration Optimization and Response Prediction Method of the Clamping Robot for Vibration Suppression of Cantilever Workpiece Applied Sciences clamping robot dynamics model configuration optimization vibration suppression |
| title | Configuration Optimization and Response Prediction Method of the Clamping Robot for Vibration Suppression of Cantilever Workpiece |
| title_full | Configuration Optimization and Response Prediction Method of the Clamping Robot for Vibration Suppression of Cantilever Workpiece |
| title_fullStr | Configuration Optimization and Response Prediction Method of the Clamping Robot for Vibration Suppression of Cantilever Workpiece |
| title_full_unstemmed | Configuration Optimization and Response Prediction Method of the Clamping Robot for Vibration Suppression of Cantilever Workpiece |
| title_short | Configuration Optimization and Response Prediction Method of the Clamping Robot for Vibration Suppression of Cantilever Workpiece |
| title_sort | configuration optimization and response prediction method of the clamping robot for vibration suppression of cantilever workpiece |
| topic | clamping robot dynamics model configuration optimization vibration suppression |
| url | https://www.mdpi.com/2076-3417/13/8/4863 |
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