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Optimal location of the workpiece in a PKM-Based machining robotic cell

Title
Optimal location of the workpiece in a PKM-Based machining robotic cell
Type
Chapter or Part of a Book
Year
2013
Authors
E.J. Solteiro Pires
(Author)
FEUP
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António M. Lopes
(Author)
FEUP
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J. A. Tenreiro Machado
(Author)
FEUP
P. B. de Moura Oliveira
(Author)
Other
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Book
Pages: 223-236
ISBN: 9781466626669
Electronic ISBN: 9781466626973
Scientific classification
FOS: Engineering and technology
Other information
Abstract (EN): Most machining tasks require high accuracy and are carried out by dedicated machine-tools. On the other hand, traditional robots are flexible and easy to program, but they are rather inaccurate for certain tasks. Parallel kinematic robots could combine the accuracy and flexibility that are usually needed in machining operations. Achieving this goal requires proper design of the parallel robot. In this chapter, a multi-objective particle swarm optimization algorithm is used to optimize the structure of a parallel robot according to specific criteria. Afterwards, for a chosen optimal structure, the best location of the workpiece with respect to the robot, in a machining robotic cell, is analyzed based on the power consumed by the manipulator during the machining process.
Language: English
Type (Professor's evaluation): Scientific
No. of pages: 13
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