摘要
为解释负载状态下机器人变形与外力方向有关的现象,提出了偏移刚度矩阵的概念,并设计了一套基于六自由度机器人的铣削加工系统。通过对铝合金样件进行铣削试验,对比分析了机器人末端在不同受力情况下的工件加工过程、切削力和表面质量,验证了偏移刚度矩阵对机器人铣削加工性能的影响。
In order to explain the relationship between robot deformation and orientation of externalforce under load, the concept of offset stiffness matrix was proposed and a milling processing system basedon 6-DOF robot was designed. Through the test milling of aluminum alloy specimens, the machining processof the work-piece, cutting force and surface quality under different stress at the robot end were comparedand analyzed, and the influence of the offset stiffness matrix on the milling performance of the robot wasverified.
出处
《机械制造》
2018年第8期80-83,共4页
Machinery
关键词
偏移刚度矩阵
机器人
铣削
加工
Offset
Stiffness
Matrix Robot Milling Processing
