New Redundant Architectures in Machining: Serial and Parallel Robots

摘要

New machine architectures were born during these last years pushed by industrial exigencies in terms of productivity. In this paper, we propose to study the performances that two new machining architecture including hybrid robot with a parallelogram closed loop and a parallel structure can offer. These two robots are combined with a 2 axis turntable in a 8 DoFs robotic cell. Three redundant parameters are used to optimize the path planning. The criteria used to optimize the behavior of each robotic cell and to assess their behavior are presented in this paper along with a comparative study of the kinematic performances and stiffness performances of the two architectures.