机器人精度补偿技术与应用进展
廖文和1,2, 田威1, 李波1, 李鹏程1, 张苇1, 李宇飞1
1. 南京航空航天大学 机电学院, 南京 210016;
2. 南京理工大学 机械工程学院, 南京 210094
LIAO Wenhe1,2, TIAN Wei1, LI Bo1, LI Pengcheng1, ZHANG Wei1, LI Yufei1
1. College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China;
2. School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China
摘要： 当今工业机器人加工技术越来越多地被应用于航空、航天、高铁、船舶等高端制造领域中的制孔、铆接、铣削、磨削等工艺。然而，由于工业机器人定位精度低限制了其自身发展及其在高精制造业中的进一步应用；因此，开展机器人精度补偿技术研究对提高机器人定位精度十分重要。对工业机器人精度补偿技术的研究现状进行综述，分析了机器人的定位误差来源，梳理了当前在提高机器人定位精度方面的研究方法和技术以及目前的应用进展，总结了未来工业机器人定位精度提升方法的趋势，可为工业机器人在制造业的应用发展提供指导。
关键词: 工业机器人, 精度补偿, 机器人加工, 误差分析, 航空航天制造
Abstract: Industrial robot machining technology is widespread used in drilling, riveting, milling, grinding and other processes in aerospace, high-speed train, shipbuilding, and other high-end manufacturing industries. However, the low positioning accuracy of industrial robot has always limited its development and further application in high-precision manufacturing. Therefore, the research on robot accuracy compensation technology is important to improve the positioning accuracy of robot. In this paper, the research status of accuracy compensation technology of industrial robot is summarized, the source of positioning error of robot is analyzed, and the current research methods and application progress in improving robot positioning accuracy are organized. The trend of improving positioning accuracy of robot in the future is summed up, which can provide guidance for the further application of industrial robot in manufacturing industry.
Key words: industrial robot, accuracy compensation, robot machining, error analysis, aerospace manufacturing
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