Stiffness-Oriented Placement Optimization of Machining Robots for Large Component Flexible Manufacturing System

A large component flexible manufacturing system provides more application scenarios for industrial robots, and, in turn, these robots exhibit competitive advantages machining applications. However, the structural characteristic of low stiffness is main obstacle robot. Aiming at obtaining sufficient whole process, this paper focuses on robot placement optimization components. The geometric center machined feature selected as, firstly, base point, and center-reachable space obtained by establishing kinematic model considering a variety motion constraints. Then, according to reachability contour, global meeting all boundaries further extracted. mapping relationship between joint force posture established, most suitable based criterion optimization. series numerical finite element simulations verify correctness effectiveness proposed strategy. developed stiffness-oriented planning algorithm can provide beneficial references robotic