工业机器人定位精度提升研究

Research on the improvement of industrial robot positioning accuracy

工业机器人由于其通用性,能够在空间中执行任何类型的运动,与标准5轴铣床相比价格低廉,已成为各种机械加工过程的常用工具。然而,受制于串行运动学影响,工业机器人与数控机床相比,仅限于在几何精度较低和加工非硬材料方面的应用。文章根据某工业机器人加工产品精度和表面质量影响的误差来源的数据,提出了一种在线补偿方法。根据实验结果,总结了进一步提高精度和使用机器人进行加工过程的潜力。

Industrial robots have become a common tool for various machining processes due to their versatility,their ability to perform any type of motion in space,and their low price compared to standard 5-axis milling machines.Then,due to the influence of serial kinematics,industrial robots are limited to applications with lower geometric accuracy and processing non-hard materials compared with CNC machine tools.This paper proposes an online compensation method based on the data of the source of errors affecting the precision and surface quality of an industrial robot’s processing products.Based on the experimental results,it summarizes the potential to further improve the precision and use the robot for the machining process.