Kinetostatic Optimization for Kinematic Redundancy Planning of Nimbl’Bot Robot

Abstract In manufacturing industry, Computer Numerical Control (CNC) machines are often preferred over Industrial Serial Robots (ISR) for machining tasks. Indeed, CNC offer high positioning accuracy, which leads to slight dimensional deviation on the final product. However, these have a restricted workspace generating limitations in work. Conversely, ISR typically characterized by larger workspace. already shown satisfactory performance tasks like polishing, grinding and deburring. This paper proposes kinematic redundant robot composed of novel two degrees-of-freedom mechanism with closed-loop chain. After describing task priority inverse control framework used joint trajectory planning exploiting redundancy, analyses kinetostatic this depending considered Moreover, introduced employed improve performance. Simulation results show how better performs when optimization active.