机器人抛光叶片装夹误差校准优化实验研究

Experimental research on calibration and optimization of clamping errorof robot polishing blade

机器人通过工装夹持叶片进行抛光加工,工装与叶片之间存在着装夹误差,使得叶片坐标系发生偏移,影响叶片后续的精密加工。文中引入激光位移传感器,实现对装夹误差的测定并对叶片坐标系进行补偿修正。考虑到对误差进行量化,首先在叶片上选取一些点位并利用激光位移传感器进行标定;引入贝塞尔曲面对选取的点位数据和实际标定的点位数据分别进行曲面拟合,提出一种基于曲面距离误差的叶片曲面匹配精度评价标准;基于测定的误差参数,利用点云匹配算法实现对叶片坐标系进行校准。实验表明,经过多次校准优化,装夹误差可以控制在0.1 mm之内,取得了良好的装夹误差校准效果。

The robot holds the blade by the tooling for polishing processing.There is a clamping error between the tooling and the blade,which makes the coordinate system of the blade offset and affects the subsequent precision machining of the blade.In this paper,a laser displacement sensor is introduced to measure the clamping error and compensate and modify the coordinate system of the blade.In order to quantify the error,some points on the blade are selected and calibrated by laser displacement sensor.Bezier surface is introduced to carry out surface fitting for the selected point data and the actual calibrated point data,and a blade surface matching accuracy evaluation standard based on surface distance error is proposed.On the basis of the error parameters measured,the point cloud registration algorithm is used to calibrate the coordinate system of the blade.The experiment shows that the clamping error can be kept within 0.1 mm after multiple calibrations and optimizations,and good clamping error calibration effect can be achieved.