砂带磨削机器人的灵活性分析与优化

Dexterity Analysis and Optimization of Belt Grinding Robot

总结了磨削机器人的当前发展和阻碍砂带磨削机器人广泛应用的难点.根据复杂曲面磨削任务对机器人的实际要求,提出了一种磨削机器人构型.这种机器人属于PPPRRR构型,具有很高的定位精度和结构刚度.利用旋量理论中的指数积公式推导了该机器人的运动学正反解.引入了模拟退火算法,分析获得了相对于末端坐标系描述的砂带磨削机器人的灵活磨削空间,并绘制了灵活磨削空间的横截面图谱.进一步,采用模式搜索法,优化了磨削机接触轮相对于机器人基坐标系的位移偏移量,获得了最大的灵活磨削空间体积,提高了机器人砂带磨削系统的灵活性.

The current developments and major stumbling blocks that prevent widespread use of belt grinding robot are concluded. Based on the requirements of the complex surface grinding task, a new type of grinding robot, PPPRRR, is proposed. The robotic type features its high accuracy and high structural stiffness. Product of exponentials formula in twist theory is used to derive the kinematical and inverse kinematical equations of the belt grinding robot. Simulated annealing algorithm is used to analyze the dexterous grinding workspace with respect to the coordinate system of end effector, and the cross section drawings of the dexterous grinding space are drawn. Furthermore, the belt grinder＇s position with respect to the robot base is optimized with the pattern search method to obtain the maximum volume of the dexterous grinding workspace, which improves the dexterity of the robotic belt grinding system.