摘要
依次旋转机器人的每个轴获得其轴线方程,利用代数法求取机器人的D-H参数以及零位误差,实现机器人几何参数的标定。将标定后的机器人作为测量工具,测量装备中各单元相对机器人的转换矩阵,并用测量的矩阵调整CAM软件中对应单元模型的位姿,实现加工空间与CAM空间的配准。借助CAM软件产生刀轨迹,利用配准的参数、实际机器人逆运动学方程以及零位误差,对刀轨迹进行后处理,产生机器人加工轨迹。实现了几何参数标定、加工装备标定以及软件自动编程的机器人加工装备具有类似CNC加工装备的特性,不仅具有高的加工精度而且易于操控,其实验加工的平均误差不超过0.7 mm。
Rotate each axis of the robot in turn to obtain its axis equation,then use the algebraic method to calculate the D-H model parameters and the zero angle error of the robot to realize the calibration of the geometric parameters of the robot.The calibrated robot is used as a measuring tool to measure the transformation matrix of each unit in the equipment relative to the robot,and the position of the corresponding unit model in the CAM software is adjusted by the measured matrix to realize the registration of the processing space and the CAM space.Using the CAM software to generate the tool path,using the registration parameters,the actual robot inverse kinematics equation and the zero angle error,the tool path is post-processed to generate the robotic processing path.The robot processing equipment that realizes the calibration of geometric parameters,the calibration of processing equipment and the automatic programming of software has the characteristics of CNC processing equipment,which not only has high processing precision but also easy to control,and the average error of experimental processing does not exceed 0.7 mm.
作者
李扬斌
谢剑阳
郭桂彬
冯亮友
席文明
LI Yangbin;XIE Jianyang;GUO Guibin;FENG Liangyou;XI Wenming(School of Aerospace Engineering,Xiamen University,Xiamen 361102,CHN)
出处
《制造技术与机床》
北大核心
2020年第6期25-29,共5页
Manufacturing Technology & Machine Tool
基金
福建省科技重大专项(2016HZ0001-6)。
关键词
几何参数标定
加工装备标定
软件编程
类CNC特性
机器人加工
geometric parameter calibration
processing equipment calibration
software programming
CNC-like characteristic
robot processing
