摘要
为了提升机器人的定位及轨迹追踪精度,并优化多功能复合材料的自动化铣削工艺,研究基于铣削机器人的精度补偿,构建了一种考虑静态定位精度和动态轨迹追踪性能精度提升的精度补偿策略。仿真实验结果显示,所提策略使得机器人绝对定位误差降低了12%且定位精度被显著提升,能够有效改善多功能复合材料在铣削过程中的层间剥离和不稳定现象。
In order to improve the positioning and trajectory tracking accuracy of the robot and optimize the automated milling process of multifunctional composite materials,an accuracy compensation strategy based on the accuracy compensation of the milling robot is constructed to consider the improvement of the static positioning accuracy and dynamic trajectory tracking performance accuracy.Simulation results show that the proposed strategy reduces the absolute positioning error of the robot by 12%and significantly improves the positioning accuracy,which can effectively improve the interlayer peeling and instability phenomenon of multifunctional composite materials in the milling process.
作者
瞿媛媛
王琦
崔志敏
Qu Yuanyuan;Wang Qi;Cui Zhimin(CITIC Electromechanical Manufacturing Company,Houma Shanxi 043000,China)
出处
《机械管理开发》
2024年第12期277-278,281,共3页
Mechanical Management and Development
关键词
多功能复合材料
铣削工艺
前馈控制
半闭环反馈
精度补偿
multifunctional composites
milling process
feed-forward control
semi-closed-loop feedback
accuracy compensation
