流程驱动的便携式混合制造机器人单元结构布局优化

Eng Pub Date : 2024-05-20 DOI:10.3390/eng5020049
H. Bikas, Dimitrios Manitaras, Thanassis Souflas, Panagiotis Stavropoulos
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引用次数: 0

摘要

混合制造结合了各种制造工艺(通常是快速成型制造和机械加工),利用了每种工艺的优点,实现了维修方案。这种方法可以与机器人集成,如果便于携带,就可以形成灵活的机床,方便运输到任何地方,实现现场维修。然而,承重结构的设计决定了其可运输性,其刚度在动态负载下起着至关重要的功能作用,并影响产品质量。要在重量和刚度之间找到适当的平衡,需要精确的边界条件和有效的设计。在这项工作中,提出了一种对便携式制造单元结构进行流程驱动优化的方法。通过加工过程模型确定动态切削力,并通过简化的机器人手臂模型估算机器人底部的力。由于框架由横梁组成,因此采用了布局优化方法,将估算的加工力作为边界条件来优化横梁的布置。所提出的方法使承重结构在铣削过程中的位移达到 0.05 毫米,钻孔过程中孔中心位置的精度也达到了可接受的水平,同时整体重量减轻了 17.6%。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Process-Driven Layout Optimization of a Portable Hybrid Manufacturing Robotic Cell Structure
Hybrid manufacturing combines manufacturing processes (typically additive manufacturing and machining) exploiting the benefits of each and enabling repair scenarios. Such an approach can be integrated with a robot, and if made portable, can form a flexible machine tool that can be easily transported anywhere to enable repairs in the field. However, the design of the load-bearing structure determines its transportability, and its stiffness plays a crucial functional role under dynamic loads and affects the product quality. Finding the right balance between weight and stiffness requires accurate boundary conditions and an effective design. In this work, a method is proposed towards process-driven optimization of a portable manufacturing cell structure. The dynamic cutting forces are determined through a machining process model and, via a simplified model of the robot arm, the forces at the base of the robot are estimated. Since the frame consists of beams, the layout optimization method is applied, using the estimated process forces as boundary conditions to optimize the arrangement of beams. The proposed method achieved 0.05 mm displacement in the load-bearing structure under milling and an acceptable accuracy of the position of a hole’s center during drilling, while the overall weight reduced by 17.6%.
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Eng
Eng
CiteScore
2.10
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