20.500.12556/RUL-178111 Načrtovanje regijsko segmentirane robotske površinske obdelave z bolj realistično časovno metrik Improved time-optimal planning of robotic surface finishing using a region-based approach Tradicionalni pristopi pri robotski površinski obdelavi pogosto temeljijo na vnaprej določeni konstantni smeri in hitrosti gibanja orodja, ne glede na lokalne značilnosti obdelovanca, kar vodi v neučinkovito izrabo robotskih zmogljivosti. V tej študiji predstavljamo metodo, ki temelji na regijski segmentaciji površine obdelovanca, kjer se za vsako regijo določita optimalna smer in hitrost obdelave na osnovi kinematične zmogljivosti robota in geometrije obdelovanca. Razvit je bil izboljšan indeks za oceno časa obdelave, ki vključuje penalizacijo zaradi prehodov med posameznimi obdelovalnimi potmi, ter nov postopek za iskanje optimalnega števila začetnih segmentov, kar omogoča bolj realistično oceno učinkovitosti načrtovanih poti. Eksperimentalni rezultati potrjujejo, da predlagani regijski pristop dosega do 22 % krajše čase obdelave v primerjavi s konvencionalno enosmerno strategijo. Traditional approaches to robotic surface machining often rely on a predefined, constant direction and speed of tool motion, regardless of the local characteristics of the workpiece. Such a uniform strategy results in inefficient utilization of the robot's capabilities, particularly when dealing with complex geometries where the kinematic performance can vary significantly across different surface regions. In this study, we present an advanced approach based on surface segmentation of the workpiece into regions, where each region is assigned a locally optimal machining direction and speed, derived from the robot's kinematic capabilities and the geometry of the surface. An improved machining time index was developed, incorporating a penalty for toolpath transitions, along with a new procedure for determining the optimal number of initial segments. This enables a more realistic estimation of the overall process efficiency. Numerical and experimental results confirm that the proposed region-based strategy achieves up to 22% reduction in machining time compared to conventional unidirectional strategies. robotska površinska obdelava časovna optimizacija obdelave sodelujoči robot regijska segmentacija mikrokovanje robot surface machining machining time optimization collaborative robots surface segmentation machine hammer peening true false true Slovenski jezik Angleški jezik Članek v reviji 2026-01-19 10:17:28 2026-01-19 10:17:29 2026-01-21 13:43:12 0000-00-00 00:00:00 2025 0 0 Str. 148-155 št. 3 Letn. 31 2025 0000-00-00 Zaloznikova Objavljeno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 681.5 1318-7279 244878339 pusnik_07-2025.pdf pusnik_07-2025.pdf 1 6FEC6D6F7331D6F28BEC8D47D6F1DF85 067e78a0e8b57acaa70d8a3028f081d1b9744f4a3a0b8f952b955e6cf00255be 0708b46e-f518-11f0-bf92-0050569b8976 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=225661 https://revija-ventil.si/wp-content/uploads/pusnik_07-2025.pdf 1 9fa75e84-f517-11f0-bf92-0050569b8976 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=225660 Fakulteta za strojništvo Ventil 0 0 0