A Configuration Optimizing Method in Robotic Machining

摘要

Industrial robotshave beenwildly used in machining applications due to its high flexibility and low-cost.However, the relatively low stiffness of robots seriously influences their machining accuracy and quality. Based on the redundant degree of freedom and the robotic static stiffness model, machining configuration of six-revolute serial robots could be optimized off-line to improve kinematics performance and stiffness performance. This paper addresses a configuration optimizing method to off-line optimize configuration which far away from singularity and joint-limits meanwhile achieve the optimum stiffness.