摘要
机器人的末端刚度是影响机器人加工质量的重要因素,具有位姿依赖性的特点,加工时选择合适的位姿可提高机器人的末端刚度。针对串联机器人因末端刚度低,在齿轮倒角时表面质量低下的问题,提出了一种考虑机器人灵活度和末端加工刚度的位姿优化方法。通过对KUKA KR210机器人进行运动学及刚度建模,结合机器人末端刚度在空间中的方向性建立加工刚度指标KNF。分析机器人倒角加工时的大刚度加工方向,结合倒角受力方向,使用加工刚度指标KNF辨识机器人在倒角加工时的加工刚度,优化机器人的倒角位姿。最后,进行机器人齿轮倒角实验。对比优化前后齿轮倒角加工效果。结果表明,应用所提优化方法,优化后加工表面粗糙度可由4.963μm提升至1.272μm,表面振纹减少,加工质量具有明显提升,证明了优化方法的有效性。
The end-effector stiffness of a robot constitutes a crucial factor influencing the machining quality of the robot and exhibits the trait of position and pose dependence.Selecting an appropriate position and pose during machining can enhance the end-effector stiffness of the robot.In response to the issue of low end-effector stiffness and inferior surface quality during gear chamfering of serial robots,a pose optimization approach considering the flexibility of the robot and the end-effector machining stiffness is put forward.By conducting kinematic and stiffness modeling of the KUKA KR210 robot and combining the directionality of the end-effector stiffness in space,the machining stiffness index KNF is established.The large stiffness machining direction during robot chamfering is analyzed.Incorporating the force direction during chamfering,the machining stiffness index KNF is utilized to identify the machining stiffness of the robot during chamfering,and the chamfering pose of the robot is optimized.Eventually,a robot gear chamfering experiment is carried out.The machining effects of gear chamfering before and after optimization are compared.The results indicate that by applying the proposed optimization method,the surface roughness of the machined surface can be elevated from 4.963μm to 1.272μm after optimization,the surface vibration marks are reduced,and the machining quality is significantly enhanced,thereby verifying the effectiveness of the optimization method.
作者
朱天宇
洪荣晶
张浩
吕康源
徐鹏飞
ZHU Tianyu;HONG Rongjing;ZHANG Hao;LYU Kangyuan;XU Pengfei(School of Mechanical and Power Engineering,Nanjing Tech University,Nanjing 211816,China;Jiangsu Province Key Laboratory of Industrial Equipment Manufacturing and Digital Control Technology,Nanjing 211899,China)
出处
《组合机床与自动化加工技术》
北大核心
2025年第9期55-60,共6页
Modular Machine Tool & Automatic Manufacturing Technique
基金
江苏省科技成果转化专项项目(BA2022021)。
关键词
工业机器人
位姿优化
刚度模型
灵活度
倒角加工
industrial robot
pose optimization
stiffness model
flexibility
chamfering machining
