Workpiece position optimisation in robotic multi-axis machining
Identifikátory výsledku
Kód výsledku v 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>
Výsledek na webu
<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>
Alternativní jazyky
Jazyk výsledku
angličtina
Název v původním jazyce
Workpiece position optimisation in robotic multi-axis machining
Popis výsledku v původním jazyce
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.
Název v anglickém jazyce
Workpiece position optimisation in robotic multi-axis machining
Popis výsledku anglicky
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.
Klasifikace
Druh
J<sub>imp</sub> - Článek v periodiku v databázi Web of Science
CEP obor
—
OECD FORD obor
20301 - Mechanical engineering
Návaznosti výsledku
Projekt
<a href="/cs/project/EH22_008%2F0004590" target="_blank" >EH22_008/0004590: Robotika a pokročilá průmyslová výroba</a><br>
Návaznosti
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach
Ostatní
Rok uplatnění
2025
Kód důvěrnosti údajů
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Údaje specifické pro druh výsledku
Název periodika
Results in Engineering
ISSN
2590-1230
e-ISSN
2590-1230
Svazek periodika
27
Číslo periodika v rámci svazku
September
Stát vydavatele periodika
US - Spojené státy americké
Počet stran výsledku
18
Strana od-do
1-18
Kód UT WoS článku
001542127700014
EID výsledku v databázi Scopus
2-s2.0-105011599072