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Optimize the feed rate of 6-DOFs robot in parametric domain based on kinematics modeling

Optimize the feed rate of 6-DOFs robot in parametric domain based on kinematics modeling

Chu, Anh My, Duong, Xuan Bien and Le, Chi Hieu ORCID: 0000-0002-5168-2297 (2021) Optimize the feed rate of 6-DOFs robot in parametric domain based on kinematics modeling. In: Kumar, Raghvendra, Quang, Nguyen Ho, Kumar Solanki, Vijender, Cardona, Manuel and Pattnaik, Prasant Kumar, (eds.) Research in Intelligent and Computing in Engineering: Select Proceedings of RICE 2020. Advances in Intelligent Systems and Computing (1254). Springer Singapore. ISBN 978-9811575266 (In Press) (doi:

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Nowadays, robots are widely used in welding machining, cutting machining, printing 3D plastic and additive manufacturing metal because of their greatly flex-ibility. Due to the demand to reduce time costs and increase the manufacturing performance, the issue of optimizing the production process is always concerned. In particular, optimizing the feed rate parameter has received much attention from researchers. This paper presents the method for optimizing feed rate of the cutting tool along the toolpath profile of an industrial robot with six degrees of freedom in parametric domain based on kinematics modeling. The inverse kinematics problems of redundant system are solved by using the algorithms for adjusting the increments of generalized vector. The positions, velocities, accelerations and jerks of joints are determined following the given toolpath in parametric domain. The algorithm is built based on the gradually increase of feed rate values, while ensuring the kinematic limits of the joints. The results of this study play an im-portant role in improving the technological capabilities of machining robots when manufacturing complex toolpaths in space.

Item Type: Book Section
Uncontrolled Keywords: Feed rate, optimize algorithm, machining robots, parametric domain
Subjects: T Technology > TA Engineering (General). Civil engineering (General)
Faculty / School / Research Centre / Research Group: Faculty of Engineering & Science
Faculty of Engineering & Science > Design, Manufacturing and Innovative Products Research Theme
Faculty of Engineering & Science > School of Engineering (ENG)
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Last Modified: 25 Nov 2020 22:37

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