机器人加工系统刚度性能优化研究

doi:10.7527/S1000-6893.2013.0227

Abstract

Abstract:

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.

Key words: robot machining system, stiffness identification, Cartesian stiffness matrix, genetic algorithm, posture optimization

CLC Number:

V19
TP242.2

QU Weiwei, HOU Penghui, YANG Genjun, HUANG Guanping, YIN Fucheng, SHI Xin. Research on the Stiffness Performance for Robot Machining Systems[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2013, 34(12): 2823-2832.

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Research on the Stiffness Performance for Robot Machining Systems

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