| Title: | Region-based approach for machining time improvement in robot surface finishing |
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| Authors: | ID Pušnik, Tomaž (Author)
ID Hace, Aleš (Author) |
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| Files: |  applsci-14-09808-v2.pdf (20,89 MB)
MD5: CE20407FE507FED5BFCB67D7FB458068
 https://www.mdpi.com/2076-3417/14/21/9808
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| Language: | English |
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| Work type: | Article |
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| Typology: | 1.01 - Original Scientific Article |
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| Organization: | FERI - Faculty of Electrical Engineering and Computer Science
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| Abstract: | Traditionally, in robotic surface finishing, the entire workpiece is processed at a uniform speed, predetermined by the operator, which does not account for variations in the machinability across different regions of the workpiece. This conventional approach often leads to inefficiencies, especially given the diverse geometrical characteristics of workpieces that could potentially allow for different machining speeds. Our study introduces a region-based approach, which improves surface finishing machining time by allowing variable speeds and directions tailored to each region’s specific characteristics. This method leverages a task-oriented strategy integrating robot kinematics and workpiece surface geometry, subdivided by the clustering algorithm. Subsequently, methods for optimization algorithms were developed to calculate each region’s optimal machining speeds and directions. The efficacy of this approach was validated through numerical results on two distinct workpieces, demonstrating significant improvements in machining times. The region-based approach yielded up to a 37% reduction in machining time compared to traditional single-direction machining. Further enhancements were achieved by optimizing the workpiece positioning, which, in our case, added up to an additional 16% improvement from the initial position. Validation processes were conducted to ensure the collaborative robot’s joint velocities remained within safe operational limits while executing the region-based surface finishing strategy. |
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| Keywords: | robot surface finishing, collaborative robot, region-based machining, workpiece optimization, clustering, task-oriented machining, machining time optimization |
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| Publication status: | Published |
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| Publication version: | Version of Record |
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| Submitted for review: | 20.09.2024 |
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| Article acceptance date: | 25.10.2024 |
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| Publication date: | 27.10.2024 |
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| Publisher: | MDPI |
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| Year of publishing: | 2024 |
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| Number of pages: | 25 str. |
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| Numbering: | let. 14, št. 21, št. članka 9808 |
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| PID: | 20.500.12556/DKUM-91175  |
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| UDC: | 007.52 |
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| ISSN on article: | 2076-3417 |
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| COBISS.SI-ID: | 213366019 |
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| DOI: | 10.3390/app14219808 |
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| Copyright: | © 2024 by the authors |
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| Publication date in DKUM: | 25.11.2024 |
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| Views: | 224 |
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| Downloads: | 65 |
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| Metadata: |    |
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| Categories: | Misc.
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