Enhancing Machining Robot Workspace and Stability via Two-Dimensional Base Expansion in a Modular Machining System

Abstract

Industrial robot machining systems are gaining attention due to their flexibility; however, existing systems face challenges in expanding the robot's workspace and supplying the materials necessary for processing. In this study, we propose a machining system with a modular structure and multi-point simultaneous machining capability to ensure continuous material supply and extend the robot's overall reachable workspace. The proposed system is composed of rail, traverse and moving modules. We developed the traverse module to enable the robot's base to move in a two-dimensional plane. The rigidity of the modular base is evaluated through a finite element (FE) modal analysis providing a conservative lower bound on the natural frequency, drilling experiments in which the root mean square (RMS) rail vibration averages 0.18 G, approximately 1/15 of the RMS vibration observed at the end effector (EE) of the robotic arm, and a statistical comparison of EE vibration under different robot postures. Together, these results indicate that the proposed modular system serves as a stable base for the robotic arm, providing sufficient structural rigidity to maintain stable posture and position within the expanded workspace.