考虑位姿变换的钻铆工业机器人刚度寻优

Rigidity Optimization of Drill-Riveting Industrial Robot ConsideringPosture Transformation

针对航空航天飞机蒙皮壁板等大尺度构件自动钻铆加工中工业机器人刚度较低、加工精度差的问题,以KUKA KR600 R2830型工业机器人为例,通过调整工业机器人加工位姿的方式进行刚度优化。建立所选型号工业机器人运动学模型,在此基础上建立刚度模型并通过刚度辨识实验求解工业机器人各关节刚度;采用蒙特卡洛法绘制工业机器人作业空间并结合刚度性能评价指标在工作空间基础上绘制刚度云图,表征机器人刚度性能分布;结合参数优化后的模拟退火算法求解机械臂刚度最优位姿及当前位姿下的关节角;最后利用仿真及实验进行验证,证明刚度最大位姿的有效性。此方法可为高精重载工业机器人的加工稳定性研究提供思路和指导,提升6R工业机器人钻铆质量。

Aiming at the problems of low stiffness and poor machining accuracy of industrial robots in automatic drilling and riveting of large-scale components such as aerospace aircraft skin panels,taking KUKA KR600 R2830 industrial robot as an example,the stiffness was optimized by adjusting the machining posture of industrial robots.The kinematics model of the selected industrial robot was established,then the stiffness model was established and the joint stiffness of the industrial robot was solved through the stiffness identification experiment.Monte Carlo method was used to draw the workspace of industrial robots and stiffness cloud map was drawn based on the workspace with the stiffness performance evaluation index.Combined with the simulated annealing algorithm after parameter optimization,the stiffness optimal posture of the manipulator and the joint angle under the current posture were solved.Finally,simulation and experiment were used to verify the effectiveness of the maximum stiffness pose.This method can provide ideas and guidance for the research of machining stability of high-precision and heavy-duty industrial robots,and improve the drilling and riveting quality of 6R industrial robots.