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Optimal Location of the Workpiece in a PKM-based Machining Robotic Cell
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Author(s): E.J. Solteiro Pires (Universidade de Trás-os-Montes e Alto Douro, Portugal), António M. Lopes (Universidade do Porto, Portugal), J. A. Tenreiro Machado (Instituto Politécnico do Porto, Portugal)and P. B. de Moura Oliveira (Universidade de Trás-os-Montes e Alto Douro, Portugal)
Copyright: 2013
Pages: 14
Source title:
Swarm Intelligence for Electric and Electronic Engineering
Source Author(s)/Editor(s): Girolamo Fornarelli (Politecnico di Bari, Italy)and Luciano Mescia (Politecnico di Bari, Italy)
DOI: 10.4018/978-1-4666-2666-9.ch011
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Abstract
Most machining tasks require high accuracy and are carried out by dedicated machine-tools. On the other hand, traditional robots are flexible and easy to program, but they are rather inaccurate for certain tasks. Parallel kinematic robots could combine the accuracy and flexibility that are usually needed in machining operations. Achieving this goal requires proper design of the parallel robot. In this chapter, a multi-objective particle swarm optimization algorithm is used to optimize the structure of a parallel robot according to specific criteria. Afterwards, for a chosen optimal structure, the best location of the workpiece with respect to the robot, in a machining robotic cell, is analyzed based on the power consumed by the manipulator during the machining process.
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