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The posture optimization method based on deformation index in robotic milling process

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Abstract

Compared with traditional CNC machine tools, industrial robots have higher flexibility and lower cost in the machining field. However, the relatively low stiffness of the robot makes it difficult to meet the accuracy requirements. In this paper, a robot machining posture optimization method is proposed to improve the performance. First, a deformation index considering the robot stiffness compensation matrix \({K}_{C}\) is proposed to evaluate the stiffness performance of the robot machining trajectory. Then, by minimizing the deformation index under consideration of kinematic constraints, a robot posture optimization model is established. The discrete Dijkstra optimization method is proposed to solve the global optimal solution to the model. Finally, the effectiveness of the robot deformation index and posture optimization method has been verified by a series of simulations and experiments in the Motoman ES165D robot.

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Data availability

The data used or analyzed during the current study are available from the corresponding author on reasonable request.

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Funding

This work was supported by the key R & D plan of Shandong Province for major scientific and technological innovation projects, grant number: 2021CXGC011205.

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Authors and Affiliations

  1. School of Mechanical Engineering, Shandong University, Jinan, 250061, People’s Republic of China

    Xiangru Xue, Chengrui Zhang, Qizhi Chen & Xiaogang Xu

  2. Ministry of Education, Key Laboratory of High Efficiency and Clean Mechanical Manufacture at Shandong University, Jinan, 250061, People’s Republic of China

    Xiangru Xue, Chengrui Zhang, Qizhi Chen & Xiaogang Xu

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  1. Xiangru Xue
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  2. Chengrui Zhang
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  3. Qizhi Chen
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  4. Xiaogang Xu
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Contributions

Xiangru Xue contributed to the idea and methodology development and validation, manuscript writing; Chengrui Zhang contributed to the funding support, idea and methodology discussion, algorithm check, and manuscript refinement; Qizhi Chen provided the support on the programming, writing, and experiments; Xiaogang Xu contributed to the data analysis and visualization. All the authors contributed equally to the writing of the paper.

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Correspondence to Chengrui Zhang.

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Xue, X., Zhang, C., Chen, Q. et al. The posture optimization method based on deformation index in robotic milling process. Int J Adv Manuf Technol 121, 4999–5014 (2022). https://doi.org/10.1007/s00170-022-09745-5

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  • DOI: https://doi.org/10.1007/s00170-022-09745-5

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