Research Papers: Mechanisms and Robotics

Movement Optimization of a Redundant Serial Robot for High-Quality Pipe Cutting

[+] Author and Article Information
Alberto Borboni, Roberto Bussola, Rodolfo Faglia, Pier Luigi Magnani

Department of Industrial and Mechanical Engineering, University of Brescia, Via Branze 38, 25123 Brescia, Italy

Andrea Menegolo

Department of Industrial and Mechanical Engineering, University of Brescia, Via Branze 38, 25123 Brescia, Italyalberto.borboni@ing.unibs.it

J. Mech. Des 130(8), 082301 (Jul 10, 2008) (6 pages) doi:10.1115/1.2918907 History: Received September 07, 2007; Revised January 07, 2008; Published July 10, 2008

The subject of this research concerns an innovative serial robot developed to introduce the laser ray technology in the on-line pipes cutting in a continuous process of production. The presence of different cutting constraints and the necessity of avoiding any robot collisions suggested the insertion of a redundant degree of freedom allowing infinite inverse kinematics solutions for the motion planning as well as for the movement optimization. The inverse kinematics requires to evaluate the pseudo-inverse matrix of the kinematical system in several trajectory points while the optimization is performed with an opportune weighting variable assigned for each joint degree of freedom. The supervision of the machine dynamic behavior is obtained through the change of these weights during the motion. As a consequence, a suitable multi-objective genetic algorithm (MOGA) has been adopted to reduce vibration effects and to improve the quality of the robot motion with optimal motion profiles. In comparison with the traditional cutting techniques, the proposed one allows, as a result of the optimal motion of the robot, an increased quality improvement and a reduced cutting cycle time. Premised a brief description of the technological context, this paper presents the kinematical analysis of the machine and its optimization with the implemented MOGA. The proposed algorithm has been implemented on a working laser pipe cutting machine and exhibits a behavior really similar to the forecasted one.

Copyright © 2008 by American Society of Mechanical Engineers
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Figure 1

Pipes continuous process of production

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Figure 2

Speed and position profiles of the carriage in the return stroke. The phase of the cut is underlined by a thick segment. T is the total circle time and L is the cut length.

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Figure 3

Comparison of different cutting technologies

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Figure 4

The SpeedFly5 machine: Double arrows indicate the main movements of the robot

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Figure 5

Structural scheme of the SpeedFly5 machine

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Figure 6

Motion planning flowchart

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Figure 7

Configuration sequence assumed by the robot during the optimization/simulation process

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Figure 8

Example of the GoaḻI function trend

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Figure 9

Weights of the pseudoinverse matrix versus time

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Figure 10

Accelerations of the joints versus time



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