机器人加工系统刚度性能优化研究
收稿日期: 2013-03-04
修回日期: 2013-04-25
网络出版日期: 2013-07-01
基金资助
中央高校基本科研业务费专项资金 （2012FZA4004）；国家科技支撑计划（2011BAF13B10）
Research on the Stiffness Performance for Robot Machining Systems
Received date: 2013-03-04
Revised date: 2013-04-25
Online published: 2013-07-01
Supported by
Fundamental Research Funds for the Central Universities (2012FZA4004); National Key Technology Research and Development Program of China (2011BAF13B10)
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。
曲巍崴 , 侯鹏辉 , 杨根军 , 黄官平 , 尹富成 , 石鑫 . 机器人加工系统刚度性能优化研究[J]. 航空学报, 2013 , 34(12) : 2823 -2832 . DOI: 10.7527/S1000-6893.2013.0227
Industrial robot is widely used in aviation manufacturing for its high precision, high efficiency and good expansibility. However, the low stiffness of a serial structure has been a primary factor affecting the end positioning accuracy and dynamic properties. This paper studies the stiffness property optimization for a redundant robot with an extra 7th axis. First, the joint stiffness values are obtained by experiment identification based on a conventional stiffness model. Then a genetic algorithm is employed to conduct the posture optimization under a given position and orientation constraint so as to allow the length of the semiaxis of the stiffness ellipsoid to reach its maximum along the normal direction of the workpiece. Finally,contrast experiments are carried out and the results show that the optimization method is of great significance for enhancing the positioning precision and improving machining properties.
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