电化学加工机器人动态性能设计与优化研究

Dynamic Performance Design and Optimization of Electrochemical Machining Robot

工业机器人工作空间大、姿态灵活、可配置性高,且成本低,广泛应用于搬运、装配、喷涂和焊接等多个领域。但由于机器人末端轨迹精度不高,低速波动大,在电化学加工领域的应用很少。根据电化学加工低速、高轨迹精度特点,提出采用象限法设定电化学加工机器人工作区域,建立电化学加工机器人动力学优化函数,采用第三代非支配遗传算法NSGA-Ⅲ求解各设计参数最优Pareto解集,通过仿真和实验进行了动态性能测试验证。结果表明在设定工作区域内,电化学加工机器人直线轨迹精度可达0.073 mm,圆弧轨迹精度可达0.145 mm,低速工况下轨迹精度相比传统工业机器人提高近10倍。

Due to the large workspace,flexible posture,high configurability and low cost,industrial robots are widely used in various fields such as transportation,assembly,spraying,welding,etc.Because of the low precision of robot end track and the large fluctuation at low speed,it is rarely used in the field of electrochemical machining.According to the characteristics of low speed and high trajectory accuracy of electrochemical machining,a quadrant method is proposed to set the working area of the electrochemical machining robot and the dynamic optimization function of the electrochemical machining robot is establisbed.The third-generation non-dominated genetic algorithm NSGA-Ⅲis used to solve the optimal Pareto solution set of each design parameter.The dynamic performance test is carried out through simulation and experiment.The results show that within the set working area,the straight track accuracy of the electrochemical machining robot can reach 0.073 mm,the arc trajectory accuracy can reach 0.145 mm,and the trajectory accuracy under low-speed conditions is nearly 10 times higher than that of traditional industrial robots.