{"title":"Pose optimization in robotic milling based on surface location error","authors":"Teng-fei Hou, Yang Lei, Ye Ding","doi":"10.1115/1.4057055","DOIUrl":null,"url":null,"abstract":"\n Industrial robots have become a suitable alternative to machine tools due to their great flexibility, low cost, and large working space. However, the deformation and vibration caused by the cutting forces during machining result in poor machining accuracy and surface quality. In order to improve the machining performance of the robot, this paper proposes a posture optimization method for robotic milling with the redundant degree of freedom of the industrial robot. First, modal tests are conducted in the robotic workspace to obtain the parameters of the structural dynamics of the robotic milling system. Then, considering the dynamics model of the system, the optimization model based on surface location error (SLE) is proposed to obtain the optimal robotic posture. Finally, a series of experiments illustrate that pose optimization based on SLE can improve the machining accuracy and surface machining quality.","PeriodicalId":16299,"journal":{"name":"Journal of Manufacturing Science and Engineering-transactions of The Asme","volume":null,"pages":null},"PeriodicalIF":2.4000,"publicationDate":"2023-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of Manufacturing Science and Engineering-transactions of The Asme","FirstCategoryId":"5","ListUrlMain":"https://doi.org/10.1115/1.4057055","RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"ENGINEERING, MANUFACTURING","Score":null,"Total":0}
引用次数: 1
Abstract
Industrial robots have become a suitable alternative to machine tools due to their great flexibility, low cost, and large working space. However, the deformation and vibration caused by the cutting forces during machining result in poor machining accuracy and surface quality. In order to improve the machining performance of the robot, this paper proposes a posture optimization method for robotic milling with the redundant degree of freedom of the industrial robot. First, modal tests are conducted in the robotic workspace to obtain the parameters of the structural dynamics of the robotic milling system. Then, considering the dynamics model of the system, the optimization model based on surface location error (SLE) is proposed to obtain the optimal robotic posture. Finally, a series of experiments illustrate that pose optimization based on SLE can improve the machining accuracy and surface machining quality.
期刊介绍:
Areas of interest including, but not limited to: Additive manufacturing; Advanced materials and processing; Assembly; Biomedical manufacturing; Bulk deformation processes (e.g., extrusion, forging, wire drawing, etc.); CAD/CAM/CAE; Computer-integrated manufacturing; Control and automation; Cyber-physical systems in manufacturing; Data science-enhanced manufacturing; Design for manufacturing; Electrical and electrochemical machining; Grinding and abrasive processes; Injection molding and other polymer fabrication processes; Inspection and quality control; Laser processes; Machine tool dynamics; Machining processes; Materials handling; Metrology; Micro- and nano-machining and processing; Modeling and simulation; Nontraditional manufacturing processes; Plant engineering and maintenance; Powder processing; Precision and ultra-precision machining; Process engineering; Process planning; Production systems optimization; Rapid prototyping and solid freeform fabrication; Robotics and flexible tooling; Sensing, monitoring, and diagnostics; Sheet and tube metal forming; Sustainable manufacturing; Tribology in manufacturing; Welding and joining