Task-Oriented Evaluation of the Feasible Kinematic Directional Capabilities for Robot Machining

Area of Science:

• Robotics
• Manufacturing Engineering
• Mechanical Engineering

Background:

• Collaborative robotics presents unique challenges for complex surface machining due to reduced motion capabilities.
• Evaluating robot kinematic capabilities before task execution is crucial for flexible applications.

Purpose of the Study:

• To introduce the Decomposed Twist Feasibility (DTF) method for assessing maximum robot kinematic capabilities.
• To provide accurate and physically consistent information for robot machining tasks.

Main Methods:

• The DTF method decomposes end-effector velocity into linear and angular motion components.
• It utilizes the manipulability polytope concept to represent kinematic performance.
• The approach considers synchronous linear and angular motion requirements typical in machining.

Main Results:

• The DTF method offers an accurate and simple solution for determining total kinematic performance capabilities.
• Numerical results demonstrate the effectiveness of the proposed DTF approach.
• The method provides a way to assess feasibility for complex robot machining tasks.

Conclusions:

• The DTF method accurately evaluates robot kinematic performance for machining complex surfaces.
• It offers advantages over existing methods by considering combined linear and angular motion.
• The DTF method can serve as criteria for optimal task placement within a robot's workspace.