Performance Criteria to Evaluate a Kinematically Redundant Robotic Cell for Machining Tasks
Machine tools and robots have both evolved fundamentally and we can now question the abilities of new industrial robots concerning accurate task realization under high constraints. Requirements in terms of kinematic and dynamic capabilities in High Speed Machining (HSM) are increasingly demanding. To face the challenge of performance improvement, parallel and hybrid robotic architectures have emerged and a new generation of industrial serial robots with the ability to perform machining tasks has been designed. In this paper, we propose to evaluate the performance criteria of an industrial robot included in a kinematically redundant robotic cell dedicated to a machining task. Firstly, we present the constraints of the machining process (speed, accuracy etc.). We then detail the direct geometrical model and the kinematic model of a robot with closed chain in the arm and we propose a procedure for managing kinematic redundancy whilst integrating various criteria. Finally, we present the evolution of the criteria for a given trajectory in order to define the best location for a rotary table and to analyze the manipulators stiffness.
Grigore Gogu, Inocentiu Maniu, Erwin-Christian Lovasz, Jean-Christophe Fauroux and Valentin Ciupe
K. Subrin et al., "Performance Criteria to Evaluate a Kinematically Redundant Robotic Cell for Machining Tasks", Applied Mechanics and Materials, Vol. 162, pp. 413-422, 2012