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PreprintCited by 28Robotic Mechanisms and DynamicsSoft Robotics and ApplicationsDynamics and Control of Mechanical Systems

Variable stiffness identification and configuration optimization of industrial robots for machining tasks

Open access
Jiao, Jiachen, Tian, Wei, Zhang, Lin, Li, Bo, Hu, Junshan, Li, Yufei, Li, Dawei, Zhang, Jianlong·2020·Chinese Journal of Mechanical Engineering
DOI 10.21203/rs.3.rs-43642/v1
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Abstract

Industrial robots are increasingly used in machining tasks because of their high flexibility and intelligence. However, the low structural stiffness of the robot seriously affects the positional accuracy and machining quality of robot operation equipment. Studying robot stiffness characteristics and optimization methods is an effective way to improve robot stiffness performance. Accordingly, aiming at the poor accuracy of stiffness modeling caused by approximating stiffness of each joint as constant, a variable stiffness identification method is proposed based on space gridding. Then, a task-oriented axial stiffness evaluation index is proposed to realize quantitative assessment of the stiffness performance in the machining direction. Besides, by analyzing the redundant kinematic characteristics of the robot machining system, a configuration optimization method is further come up with to maximize the index. For a large number of points or trajectory processing tasks, a configuration smoothing strategy is proposed to achieve fast acquisition of optimized configurations. Finally, experiments on a KR500 robot are conducted to verify the feasibility and validity of proposed stiffness identification and configuration optimization methods.

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  • The smooth processing strategy improves optimisation efficiency, ensuring minimal stiffness loss.

    “The smooth processing strategy improves optimisation efficiency, ensuring minimal stiffness loss.”

    From Advanced Applications of Industrial Robotics: New Trends and Possibilities (2021) · cites this paper as [85]

  • According to the machining results of a cylinder head of a vehicle engine, the milling quality was improved obviously after the configuration optimisation, and the validity of these methods are verified.

    “According to the machining results of a cylinder head of a vehicle engine, the milling quality was improved obviously after the configuration optimisation, and the validity of these methods are verified.”

    From Advanced Applications of Industrial Robotics: New Trends and Possibilities (2021) · cites this paper as [85]

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Research works printed but not linked: 30

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Cited by

Sorted by citations

Authors
Jiao, J., Tian, W., Zhang, L., Li, B., Hu, J., Li, Y., Li, D., & Zhang, J.
Affiliations
  • Nanjing University of Aeronautics and Astronautics (CN)
  • Beijing institute of mechanical equipment
  • Nanjing University of Aeronautics and Astronautics
Corresponding author
Tian, Wei
ORCID
Venue
Chinese Journal of Mechanical Engineering
Publisher
Research Square Platform LLC
Published
2020-07-20
Volume
35
Issue
1
ISSN
1000-9345 (ISSN-L)
DOI
10.21203/rs.3.rs-43642/v1
OpenAlex
W4297822222
Cited by
28
References
0
Citations by year
2026: 9 · 2025: 9 · 2024: 7 · 2023: 1 · 2022: 1 · 2021: 1
FWCI
1.81
Type
journal article
Language
en
Open access
Licence
Locations
  • Chinese Journal of Mechanical Engineering (publishedVersion, cc-by)
  • Research Square (acceptedVersion, cc-by)
  • DOAJ (DOAJ: Directory of Open Access Journals) (submittedVersion, cc-by-sa)
Funders
  • Northwestern University
  • National Natural Science Foundation of China (51875287)
  • Northwestern Polytechnical University
  • Government of Jiangsu Province
  • Nanjing University of Aeronautics and Astronautics
  • Natural Science Foundation of Jiangsu Province (BK20190417)
  • Nanjing University of Science and Technology
  • Nanjing University
  • National Defense Basic Scientific Research Program of China (JCKY2018605C002)
Topics
  • Physical Sciences › Engineering › Control and Systems Engineering › Robotic Mechanisms and Dynamics
  • Physical Sciences › Engineering › Biomedical Engineering › Soft Robotics and Applications
  • Physical Sciences › Engineering › Control and Systems Engineering › Dynamics and Control of Mechanical Systems
Keywords
industrial robots, robot configuration optimization, stiffness modeling, positional accuracy

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