摘要
针对机器人磨削加工复杂曲面工件时,存在加工路径不连续、需要更换夹具而影响加工精度的问题,提出了一种3P3R磨削机器人.使用D-H法建立了机器人的运动学模型,得到了机器人的正解方程.建立了工件坐标系{W}主动、工具坐标系{T}被动模式的新型机器人系统坐标系,指出了机器人基坐标系{O}与{T}的相对位置是影响磨削机器人的灵活空间的重要因素.采用正交试验法,得到了机器人的第二关节方向的相对位置是影响灵活磨削空间最显著的因素,并且优化了磨削机接触轮相对于机器人摆放的位置,使机器人的灵活磨削空间扩大了1倍,提高了磨削机器人的灵活性.
The precision is impacted when the robotic grinding path is discontinuous and the gripper needs to be replaced during manufacturing.In order to solve this problem,a new type grinding robot,3P3R,was proposed.Based on D-H notation,space kinematics modeling of the grinding robot was presented,and the kinematical equation was derived.A new robot frame including active work piece frame {W} and passive tool frame {T} was presented.It was pointed out that the relative position between the base frame of the robot {O} and {T} was a key factor which impacted on dexterous workspace of the grinding robot.The orthogonal test method indicated that the relative position in the direction of second joint of the robot was the most significant factor.Furthermore,the position of the contact wheel relative to the robot was optimized and the volume of the dexterous space was doubled.The dexterity of the robot was improved.
出处
《北京航空航天大学学报》
EI
CAS
CSCD
北大核心
2010年第9期1075-1079,共5页
Journal of Beijing University of Aeronautics and Astronautics
基金
国家863计划资助项目(2007AA04Z231266)
机械制造系统工程国家重点实验室开放课题研究基金资助项目
关键词
机器人
磨削
运动学
灵活性
优化
正交试验
robots
grinding
kinematics
dexterity
optimization
orthogonal test
