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工业机器人以其高精度、高效率、低成本和可扩展性等优势正被逐步应用到航空制造领域。然而串联机器人的结构弱刚度问题成为影响其末端定位精度及加工动态性能的首要因素。本文应用冗余机器人的自运动特性,对附加第七轴的机器人刚度性能优化展开研究。首先,基于传统刚度映射模型,通过辨识实验获得机器人关节刚度;然后,在加工位姿及关节角度约束下,以机器人末端刚度椭球沿待加工曲面主法矢方向的半轴长度为优化指标,采用遗传算法进行机器人姿态优化;最后,对优化前后机器人变形进行对比分析,分析结果表明机器人刚度性能优化对增强机器人定位精度、改善加工性能具有重要意义。
Industrial robots are being applied to the field of aeronautics manufacturing with their advantages of high precision, high efficiency, low cost and scalability. However, the structural weak stiffness of the tandem robot has become the primary factor that affects the accuracy of the end positioning and the dynamic performance of the robot. In this paper, the self-motion characteristics of redundant robot are used to research the robot stiffness performance optimization of the seventh axis. Firstly, based on the traditional stiffness mapping model, the joint stiffness of the robot is obtained through identification experiment. Then, under the constraints of the processing pose and joint angle, the length of the semi-axis of the robot end ellipsoid along the main normal direction of the surface to be machined is taken as the optimization index, The genetic algorithm was used to optimize the attitude of the robot. Finally, the deformation of the robot before and after optimization was compared and analyzed. The results show that the optimization of robot stiffness is of great significance to enhance the robot positioning accuracy and improve the machining performance.