高速动车组车体机器人加工位置校准方法研究

Research of the Machining Position Calibration of Robots for EMU Car Body

在高速动车组车体机器人加工例如高铁侧墙等大型工件过程中,通常采用离线编程的方法,但由于工件形变较大,对机器人加工路径精度要求比较高,精确校准加工位置尤为重要。结合高铁侧墙清根作业过程中的位置校准相关问题,提出了一种基于几何特征的改进算法,并对所得数据进行试验分析,试验表明新的改进算法保证了配准精度,同时缩短了算法的执行时间。

Off-line programming is often used in robot machining of large - sized workpieces like the sidewalls for high speed EMU car bodies. However, due to the comparatively big deformation of workpiece, high machining path precision of robot is required, and the accurate calibration of machining position is very important. An improved algorithm based on geometrical characteristics is proposed in consideration of the position calibration in back gouging process for side wall of EMU, and all the acquired data is tested and analyzed. Test resuhs indicate that the newly improved algorithm can guarantee the mating accuracy and cut down the time for the execution of the algorithm.