Configuration Optimization and Response Prediction Method of the Clamping Robot for Vibration Suppression of Cantilever Workpiece

Cantilever workpieces are widely used in the aerospace field; they produce vibrations easily and affect machining quality under the action of external forces. Enhancing the stiffness of the workpiece using a robot as a fixture is an effective means to solve this problem. However, the vibration suppression effect of the clamping system depends on the dynamics performance of different configurations of the robot. Therefore, in order to obtain the optimal clamping robot configuration, the system dynamics model composed of automated guided vehicle (AGV)-robot-gripper-workpiece (ARGW) is established based on the transfer matrix method of the multibody system (MSTMM), and the vibration responses of the workpiece under different configurations are analyzed. Then, a robot configuration optimization method based on workpiece response was proposed. Finally, the effectiveness of the optimization method is verified through simulations and experiments at different clamping robot configurations. The dynamics model and optimization method in this paper can be used to predict the workpiece vibration response and choose a reasonable clamping robot configuration, avoiding the reduction in workpiece machining quality due to the improper configuration of the clamping robot.