METHODOLOGY FOR COMPUTATIONAL EVALUATION OF THE ACCURACY AND STIFFNESS OF ROBOTIC TECHNOLOGICAL COMPLEXES

Abstract

The article addresses the problem of computational and information-based evaluation of the accuracy and stiffness of robotic technological complexes performing operations involving force interaction between the tool and the workpiece or manipulated object. The relevance of the study is обусловлена by the fact that the nominal specifications of an industrial robot do not provide sufficient grounds for determining the suitability of the complex for a specific technological operation, since the actual TCP error is formed under the influence of configuration-dependent compliance, technological loading, tool parameters, dynamic effects, calibration, measurement data, and the technical condition of the system. The aim of the study is to develop an integrated evaluation methodology combining a kinematic-static model of the tool center point position, a stiffness and compliance model, a dynamic error component, and a digital information data layer. A structural representation of the robotic technological complex is proposed as a system including an industrial robot, a control system, a technological tool, an interaction object, a technological operation, a sensor subsystem, and a digital information layer. A sequential evaluation procedure has been developed, within which the position of the tool center point, wrench loading, generalized joint torques, deformation error, dynamic component, and total working-point error are determined. In addition, an information data structure is proposed for storing robot, tool, operation, loading, calibration, measurement, diagnostics, and evaluation-result parameters. Unlike approaches in which accuracy, stiffness, dynamics, and digital representation are considered separately, the proposed methodology provides a formalized transition from input data and computational models to an engineering decision regarding the suitability, conditional suitability, or unsuitability of the robotic complex for a specified operation.