摘要
在机器人切削加工工艺过程中,让刀误差是影响切削加工精度的重要因素之一。以球头铣刀铣削加工为研究对象,视其为准静态运动过程,根据机器人静弹性力学模型和球头铣刀切削力模型,建立了机器人切削过程的让刀误差数学模型。同时,提出了一种基于基因遗传算法的刀具姿态优化方法,以减小切削过程的让刀误差。最后,通过仿真分析了切削参数、刀具姿态和机器人刚度等因素对让刀误差的影响,验证了刀具姿态优化方法的可行性。
In robot milling process, back-off error is an important factor influencing milling accuracy. Ball-end cutter milling which is treated as quasi-static process was studied. A back-off error model for ball-end cutter milling process was established based on the robot static elastic model and the ball-end milling force model. Meanwhile, an optimization method for tool posture was presented using a genetic algorithm to reduce the back-off error in milling process. Finally, simulation was carried out to analyze the influence of cutting parameters, tool posture and robot joint stiffness on back-off error. The feasibility of the optimization method of tool posture is validated.
出处
《机床与液压》
北大核心
2017年第3期54-57,72,共5页
Machine Tool & Hydraulics
基金
浙江省教育厅项目(Y201328094)
浙江省‘仪器科学与技术’重中之重学科人才培育计划项目资助
浙江省公益技术应用研究项目(2014C31109)
关键词
机器人
铣削
让刀误差
建模优化
Robot
Milling process
Back-off error
Modeling optimization
