制孔执行器的安装方式对机器人性能的影响

Effects of Drill End Effector's Mounted Method on the Robot Performance

机器人和多功能末端执行器组成的柔性钻削系统近些年在航空工业得到了越来越广泛的应用,执行器和机器人的安装方式有同轴式、悬挂式和侧面式。利用软件Matlab对机器人和工件进行仿真建模,并计算执行器在不同安装方式下的机器人可达度、可操作度、关节使用度和关节被动力矩。基于计算结果,结合评价指标,分析制孔末端执行器的安装方式对机器人的可达性、可操作性、关节使用度及制孔位置精度的影响,结果表明同轴式安装消除了压紧力对机器人第5轴的被动力矩,有利于提高加工孔的位置精度;悬挂式安装使机器人的可达性好;侧面式安装使机器人的可操作性好,增加了机器人的运动灵活性和减少了关节使用度。

The flexible robot drilling system consists of two main sub-systems,the robot and the multifunction drilling end effector. It is more and more widely used in aircraft industry in recent years. There are three different methods to attach the end effector to the robot,i.e. coaxial type,hanging type and side type. The robot and workpiece simulation models are constructed by using software Matlab. According to the three different mounting methods,the robot reachability,manipulability,joint usage degree and joint passive torque are calculated by means of Matlab language. Based on the calculation results and evaluation indexes,the performances including reachability,manipulability,joint usage degree and hole positioning accuracy of the robot are analyzed. The analysis results show that the coaxial mounting eliminates the fifth axis joint passive torque produced by the clamp force,thus improving the hole positioning accuracy; the hanging mounting increases the robot reachability; the side mounting improves the robot manipulability and decreases the joint usage degree.