Stiffness-based pose optimization of an industrial robot for five-axis milling

Xiong, Gang; Ding, Ye; Zhu, Limin

doi:10.1016/j.rcim.2018.07.001

Cited by 132 publications

(26 citation statements)

References 24 publications

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“…1, and the method was used to obtain a feasibility of the proposed performance evaluation indexes. By considering the displacement of the three points of EE, Xiong et al [57] proposed a stiffness-based pose optimisation. The method could be integrated into CAD/CAM software to convert a CNC programme into a robot programme.…”

Section: Robot Stiffnessmentioning

confidence: 99%

Industrial robotic machining: a review

Wang

2019

Int J Adv Manuf Technol

271

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For the past three decades, robotic machining has attracted a large amount of research interest owning to the benefit of cost efficiency, high flexibility and multi-functionality of industrial robot. Covering articles published on the subjects of robotic machining in the past 30 years or so; this paper aims to provide an up-to-date review of robotic machining research works, a critical analysis of publications that publish the research works, and an understanding of the future directions in the field. The research works are organised into two operation categories, low material removal rate (MRR) and high MRR, according their machining properties, and the research topics are reviewed and highlighted separately. Then, a set of statistical analysis is carried out in terms of published years and countries. Towards an applicable robotic machining, the future trends and key research points are identified at the end of this paper.

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Section: Robot Stiffnessmentioning

confidence: 99%

Industrial robotic machining: a review

Wang

2019

Int J Adv Manuf Technol

271

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“…To solve this issue, this paper proposes an SM truss structure based on parallel robotics to replace the traditional Serrurier truss, enabling the telescope to be adapted depending on whether the observation state or the transport state is required. This structure can provide space for a larger-caliber telescope system, thus improving the observation performance of the vehicle-mobile telescope while satisfying transportation requirements [11][12][13][14][15][16].…”

Section: Introductionmentioning

confidence: 99%

Precision Analysis and Error Compensation of a Telescope Truss Structure Based on Robotics

Wang

Cao

et al. 2020

Applied Sciences

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We propose a new secondary mirror support structure assisted by multi-robotics to improve the observation performance of vehicle-mobile telescope systems. A mathematical model of the displacement at the end of the robotic and the variation of telescope pitch angle is established, then the posture of the robotic is optimized by the Jacobian matrix iteration inverse kinematic problem method. Based on the new support structure, a high-order sensitivity matrix is proposed to establish the mapping relationship between the robotic misalignment and the Zernike coefficient, with the accuracy verified via the Monte Carlo method. The method of adjusting the secondary mirror to compensate the aberration caused by the primary mirror is proposed, and the relationship between the primary mirror surface error and the system error is established under different pitch angles before and after compensation. The experiment and simulation results showed that the adjustment calculated by the high-order sensitivity matrix method can effectively compensate for the misalignment caused by the robotics and the primary mirror surface error to a certain degree. After multiple iterations, the root mean square of the wavefront aberration was better than λ/15. This conclusion provides an engineering application reference value for the secondary mirror support and aberration correction technology of the vehicle telescope system.

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“…Sabourin et al developed a comprehensive optimization objective function combining kinematics performance and stiffness performance, so as to realize the configuration optimization of robot machining system [11]. Xiong et al proposed a discrete search algorithm for the operation configuration of milling robot with optimal stiffness performance, and the optimization results significantly improved the trajectory accuracy [12]. Guo et al took the robot stiffness ellipsoid as the stiffness evaluation index to improve the robot stiffness by configuration optimization, and obtained accuracy of higher drilling axial and countersink depth [13].…”

Section: Introductionmentioning

confidence: 99%

Variable stiffness identification and configuration optimization of industrial robots for machining tasks

Jiao¹,

Tian²,

Zhang³

et al. 2020

Preprint

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Industrial robots are increasingly used in machining tasks because of their high flexibility and intelligence. However, the low structural stiffness of the robot seriously affects the positional accuracy and machining quality of robot operation equipment. Studying robot stiffness characteristics and optimization methods is an effective way to improve robot stiffness performance. Accordingly, aiming at the poor accuracy of stiffness modeling caused by approximating stiffness of each joint as constant, a variable stiffness identification method is proposed based on space gridding. Then, a task-oriented axial stiffness evaluation index is proposed to realize quantitative assessment of the stiffness performance in the machining direction. Besides, by analyzing the redundant kinematic characteristics of the robot machining system, a configuration optimization method is further come up with to maximize the index. For a large number of points or trajectory processing tasks, a configuration smoothing strategy is proposed to achieve fast acquisition of optimized configurations. Finally, experiments on a KR500 robot are conducted to verify the feasibility and validity of proposed stiffness identification and configuration optimization methods.

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Stiffness-based pose optimization of an industrial robot for five-axis milling

Cited by 132 publications

References 24 publications

Industrial robotic machining: a review

Industrial robotic machining: a review

Precision Analysis and Error Compensation of a Telescope Truss Structure Based on Robotics

Variable stiffness identification and configuration optimization of industrial robots for machining tasks

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