Determination of optimal combination of industrial robot control parameters in a part edge processing robotic complex

Abstract

The purpose of the paper is to determine the optimal control parameters of the process of removing sharp edges and shaping chamfers of the set size by means of an industrial robot on the parts after their machining on multi-purpose machine-tools with numerical control. The article discusses a method of setting controllable parameters (feed, spindle rotation frequency, gain factor and cutting force) by the complex optimization criterion, machining accuracy and quality parameter of the surface layer microrelief. The chamfer size and surface roughness Ra are chosen as the monitored parameters. The algorithm for choosing the control parameters of finishing processing of parts is presented. The authors have developed a technique to search for optimal solutions and software for the optimization system of part finishing treatment in a robotic system that allow to determine the optimal tuning parameters of edge processing: feed, spindle rotation frequency, gain factor and cutting force that ensure the implementation of the requirements of design and technological documentation at finishing treatment. The results obtained are of practical use and contribute to the reduction of manual finishing works.