摘要
工业机器人由于高柔性、高自动化以及低成本的优势,广泛应用于制造装配领域。然而,较低的刚度对机器人的加工精度与质量产生较大的影响。在关节极限约束下建立奇异性性能测量模型,并基于机器人静刚度模型提出一种机器人综合刚度性能评估方法,最终提出一种基于冗余自由度的6轴串联机器人姿态离线优化方法,在尽量远离关节极限姿态与奇异姿态的条件下,得到机器人最优刚度加工姿态。试验验证表明,这种姿态优化方法可以有效提升机器人的运动性能与加工质量。
Industrial robots have been wildly used in machining applications due to its high flexibility, high automationlevel and lowcost. However, the relatively low stiffness of robots seriously influences their machining accuracy andquality. This paper built a singularity measurement model of the robot posture under the constraint of joint-limits. Based onthe robotic static stiffness model, a comprehensive robotic stiffness performance evaluation method was proposed. Finally,on the basis of redundant degree of freedom, an off-line machining configuration optimization method of six-revolute serialrobots was addressed, which far away from singularity and joint-limits meanwhile achieved the optimum stiffness. Themethod could improve robotic kinematics performance and machining quality effectively through machining experiment.
出处
《航空制造技术》
2018年第4期16-21,共6页
Aeronautical Manufacturing Technology
基金
国家自然科学基金项目(51575273)
关键词
工业机器人
冗余自由度
奇异姿态避免
关节极限姿态避免
刚度性能
Industrial robot
Redundant degree of freedom
Singularity avoidance
Joint-limits avoidance
Stiffness performance
