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切削加工機器人剛度模型研究
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國家自然科學(xué)基金資助項目(51065017)和甘肅省自然科學(xué)基金資助項目(09RJZ001)


Stiffness Model of a Machining Robot
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    摘要:

    通過對機器人臂桿的分析研究,把機器人臂桿當(dāng)作一個柔性桿進行處理,,分別求出其拉伸,、扭轉(zhuǎn)和彎曲的撓度,,運用誤差參數(shù)建立運動學(xué)模型,,從而求得臂桿末端撓度的映射模型,,并結(jié)合機器人各關(guān)節(jié)傳動誤差在機器人操作末端上的撓度誤差映射,,最終在機器人操作末端疊加關(guān)節(jié)撓度和臂桿撓度,,通過剛度的定義求解出機器人總的操作空間剛度,。建立的機器人剛度模型可為機器人切削加工過程中刀具的誤差補償提供依據(jù),。

    Abstract:

    Taking robot arm as research objective, this paper analyzes and researches the stiffness model of a machining robot. First, the size of the equivalent stiffness is calculated according to the robot transmission components, which are come down to elastic components and reduced to the corresponding joints. After obtaining the stiffness of each robot joint, the joint deflection performance in robot end is mapped out by using Jacobian matrix. In addition, the robot arm is regarded as a flexible rod, and the deflection deformation models of stretch, torsion and curve are built, respectively. And then the robot kinematics model is established, in which the staging parameters are contained. From calculating the operation end mapping, each arm rod deflection has micro variable. Finally, the joint deflection and arm rod deflection are stacked in the robot operation end, and then the robot general operating space stiffness is solved through stiffness definition.

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張永貴,劉文洲,高金剛.切削加工機器人剛度模型研究[J].農(nóng)業(yè)機械學(xué)報,2014,45(8):321-327. Zhang Yonggui, Liu Wenzhou, Gao Jin'gang. Stiffness Model of a Machining Robot[J]. Transactions of the Chinese Society for Agricultural Machinery,2014,45(8):321-327.

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  • 收稿日期:2013-08-18
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  • 在線發(fā)布日期: 2014-08-10
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