期刊
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
卷 74, 期 -, 页码 -出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.rcim.2021.102290
关键词
Robotic machining; Comprehensive deformation index; Posture optimization; Kinematics performance index
资金
- Key Technology Research and Development Program of Shandong [2019JZZY020121]
- Shandong Provincial Natural Science Foundation [ZR2019MEE086]
In this paper, a method for optimizing the posture of a robot by controlling its functional redundancy is proposed. The stiffness performance of the robot is evaluated using a comprehensive deformation index and the optimization is done using a genetic algorithm. Simulations and experiments show that the proposed method can effectively improve machining accuracy.
Industrial robot has been considered to be the most promising choice to replace traditional CNC machine tool due to its low cost, high flexibility, versatility and large workspace. However, insufficient stiffness of the robot often leads to deformations and vibrations during the machining process. To improve the machining performance of robot, a posture optimization method through controlling the functional redundancy of robot is proposed. First, considering the spindle weight-induced deformation and cutting force-induced deformation simultaneously, a comprehensive deformation index is proposed to evaluate the stiffness performance of robot posture along the robot milling trajectory. Then, ideal stiffness interval at each cutter location point is calculated by minimizing the proposed deformation index in consideration of the constraints of joint and joint velocity. Next, the kinematics performance index is taken as the optimization target, and the postures of the entire milling trajectory are optimized collaboratively within the ideal stiffness intervals. In order to approximate the global optimal solution, the genetic algorithm is used to solve the optimal robot posture. Finally, a series of simulations and experiments are carried out to verify the proposed index and robot trajectory optimization method, and the results show that the machining accuracy can be efficiently improved by the proposed method.
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