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: 2014
Pages: 16
Source title: Robotics: Concepts, Methodologies, Tools, and Applications
Source Author(s)/Editor(s): Information Resources Management Association (USA)
DOI: 10.4018/978-1-4666-4607-0.ch073

Keywords: Artificial Intelligence / Computer Science & IT / Engineering Science Reference / Robotics

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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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Optimal Location of the Workpiece in a PKM-Based Machining Robotic Cell

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