Abstract
Advanced robotic systems are an Industry 4.0 enabler in smart factories. Industrial robotic manipulators require an end-effector to perform tasks. The purpose of this study was to research and develop a reconfigurable robotic end-effector for machining and part handling. The device eliminates the need for separate robots to perform part handling and machining operations. A reconfigurable, dual-purpose design eliminates lengthy end-effector changes. The paper presents the mechanical conceptualisation, detailed design, manufacturing, and testing of the end- effector and spindle system. The concept uses a flexible, cable-driven gripper system in conjunction with a compact, lightweight milling system that is capable of machining non-ferrous metals. The results demonstrate the versatility and high compliance of the gripper. An experimental study revealed the influence that reconfigurability has on the spindle dynamics. The dynamic response of the gripping system was also experimentally examined during machining to evaluate the practicality of a dual-purpose design. Experimentally developed stability lobe diagrams are presented, which characterise the stable operating parameters of the machining system.
Highlights
Manufacturers face the challenge of remaining technologically competitive, given the high cost of CNC machining systems
The literature suggests that robot-based machining could provide a cost-effective alternative to expensive CNC machines in light machining applications [1],[2],[3],[4]
A robotic system that is capable of light machining and part handling would bring significant flexibility to manufacturing systems at a lower capital investment, thereby enabling small and medium-size manufacturers to be more competitive
Summary
Industrial robotic manipulators require an end-effector to perform tasks. The purpose of this study was to research and develop a reconfigurable robotic end-effector for machining and part handling. The device eliminates the need for separate robots to perform part handling and machining operations. A reconfigurable, dual-purpose design eliminates lengthy end-effector changes. An experimental study revealed the influence that reconfigurability has on the spindle dynamics. The dynamic response of the gripping system was experimentally examined during machining to evaluate the practicality of a dual-purpose design. Die doel van hierdie studie was omn herkonfigureerbare robot eindeffek werktuig vir masjinering en onderdeel hantering na te vors en te ontwikkel. Die resultate demonstreer die veelsydigheid en hoë styfheid van die greepstelsel. Die dinamiese respons van die greepstelsel tydens masjinering is ook eksperimenteel ondersoek om die uitvoerbaarheid vann tweedoelige ontwerp te evalueer. Die stabiliteit van die stelsel word deur middel van stabiliteit lob diagramme aangedui
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