摘要
工业机器人由于刚度不足会在切削加工中产生切削深度误差,在分析了产生切削深度误差的主要原因后,利用机器人逆运动学原理在切削深度误差与关节间隙误差之间建立一个映射关系,通过调整机器人各关节角来改善机器人的切削加工精度。最后通过对实验结果进行分析计算,证明所采用的误差补偿方法是正确有效的。
An industrial robot has cutting depth errors in cutting machining because of its shortage of rigidity.It identifies the main factor causing cutting depth errors.and uses the inverse kinematics of the robot to create a mapping between cutting depth errors and joint clearance errors.It adjusts each joint angle of the robot and improves the accuracy of the robot.The analysis and calculation of experimental results finally prove that the presented compensation method is correct and effective.
作者
张永贵
程兵
邹琰
黄中秋
ZHANG Yonggui;CHENG Bing;ZOU Yan;HUANG ZHongqiu(School of Mechanical&electronical Engineering, Lanzhou University of Technology,Gansu Lanzhou,730050,China)
出处
《机械设计与制造工程》
2018年第3期46-50,共5页
Machine Design and Manufacturing Engineering
关键词
工业机器人
切削深度误差
逆运动学
关节角补偿
industrial robots
cutting depth errors
inverse kinematics
compensation of joint angles
