DEVELOPMENT AND ANALYSIS OF RECONFIGURABLE ROBOTIC END-EFFECTOR FOR MACHINING AND PART HANDLING

IF 0.5 4区工程技术 Q4 ENGINEERING, INDUSTRIAL

South African Journal of Industrial Engineering Pub Date : 2021-05-28 DOI:10.7166/32-1-2293

C.E. Reddy, J. Padayachee, G. Bright

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引用次数: 0

Abstract

Advanced robotic systems are an Industry 4.0 enabler in smart factories. Industrial robotic manipulators require an end-effector to perform tasks. The purpose of this study was to research and develop a reconfigurable robotic end-effector for machining and part handling. The device eliminates the need for separate robots to perform part handling and machining operations. A reconfigurable, dual-purpose design eliminates lengthy end-effector changes. The paper presents the mechanical conceptualisation, detailed design, manufacturing, and testing of the end- effector and spindle system. The concept uses a flexible, cable-driven gripper system in conjunction with a compact, lightweight milling system that is capable of machining non-ferrous metals. The results demonstrate the versatility and high compliance of the gripper. An experimental study revealed the influence that reconfigurability has on the spindle dynamics. The dynamic response of the gripping system was also experimentally examined during machining to evaluate the practicality of a dual-purpose design. Experimentally developed stability lobe diagrams are presented, which characterise the stable operating parameters of the machining system.

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用于加工和零件搬运的可重构机器人末端执行器的开发与分析

先进的机器人系统是智能工厂的工业4.0推动者。工业机械臂需要末端执行器来执行任务。本研究的目的是研究和开发一种可重构的机器人末端执行器，用于机械加工和零件处理。该装置不需要单独的机器人来执行零件处理和加工操作。可重新配置的双重用途设计消除了冗长的末端执行器更改。本文介绍了末端执行器和主轴系统的机械概念、详细设计、制造和测试。该概念使用了一个灵活的，电缆驱动的夹具系统与一个紧凑的，轻量级的铣削系统相结合，能够加工有色金属。结果表明，该夹持器具有通用性和高顺应性。实验研究揭示了可重构性对主轴动力学的影响。在加工过程中，还对夹持系统的动态响应进行了实验研究，以评估双用途设计的实用性。给出了实验开发的稳定波瓣图，它表征了加工系统的稳定运行参数。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

South African Journal of Industrial Engineering 工程技术-工程：工业

CiteScore

1.10

自引率

20.00%

发文量

审稿时长

6 weeks

期刊介绍： The South African Journal of Industrial Engineering (SAJIE) publishes articles with the emphasis on research, development and application within the fields of Industrial Engineering and Engineering and Technology Management. In this way, it aims to contribute to the further development of these fields of study and to serve as a vehicle for the effective interchange of knowledge, ideas and experience between the research and training oriented institutions and the application oriented industry. Articles on practical applications, original research and meaningful new developments as well as state of the art surveys are encouraged.