Vibration suppression of an industrial robot with AGV in drilling applications by configuration optimization

Abstract

With the development of large and complex aerospace products, industrial robots with automatic guided vehicles have been increasingly used in manufacturing and assembly, such as drilling, riveting, and milling, due to their advantages of multi-station machining and high expandability. However, they are prone to vibration when excited by machining forces because of their low rigidity, which leads to poor surface quality. In this paper, the redundant degrees of freedom of the robotic drilling system are utilized to optimize its drilling configuration to achieve vibration suppression in manufacturing. First, the fast calculation method for dynamic response of the drilling system is introduced using the transfer matrix method for multibody systems. Secondly, a drilling configuration optimization method is proposed based on a genetic algorithm to minimize the drilling vibration response in manufacturing. Finally, the approach presented in this paper is verified by numerical simulation and drilling experiments. The results show that the methodology effectively reduces the vibration of the robotic drilling and improves the drilling quality.