Workpiece position optimisation in robotic multi-axis machining

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21220%2F25%3A00378740" target="_blank" >RIV/68407700:21220/25:00378740 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1016/j.rineng.2025.106421" target="_blank" >https://doi.org/10.1016/j.rineng.2025.106421</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1016/j.rineng.2025.106421" target="_blank" >10.1016/j.rineng.2025.106421</a>

Result language
angličtina
Original language name
Workpiece position optimisation in robotic multi-axis machining
Original language description
The use of robots for machining is becoming more and more common in industrial robotics applications. The advantages include lower acquisition costs compared to CNC machines and a larger working space with respect to the machine footprint. The disadvantages are low static stiffness and the risk that the robot structure will emit low-frequency vibrations during the machining operation. Both of these phenomena negatively affect the accuracy and quality of the machined part. In this paper, a mathematical model of the static stiffness of an industrial robot is developed from experimentally measured data, and further implemented in the off-line preparation of a robot control programme. By determining the directional stiffness during machining operations and calculating an integral stiffness criterion for a given robot configuration and workpiece position in the workspace, a genetic algorithm is used to find the optimal part position and robot end-effectors' redundant angle of rotation. The model’s validity and accuracy are verified by a five-axis machining experiment. The results of measuring the quality of the surfaces machined in the default and optimised workpiece positions clearly show the effectiveness of the proposed method.
Czech name
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Czech description
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Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
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OECD FORD branch
20301 - Mechanical engineering

Project
<a href="/en/project/EH22_008%2F0004590" target="_blank" >EH22_008/0004590: Robotics and advanced industrial production</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach

Publication year
2025
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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