基于工业机器人铣削过程控制研究

Research on Milling Process Control of Industrial Robots

工业机器人自上世纪五十年代问世以来就被广泛应用于各个领域,如:运输、包装、装置、产品检测、喷涂等。依据工业机器人易于操作,装置便利,性价比高等优势,因此在一些情况下可以取代数控机床,例如加工毛坯质地较软时,对加工精度要求较低时等。本文用到的工业机器人为精度0.08mm的安川MOTOMAN-UP6,利用nurbs曲线曲面完成复杂曲面的加工,文中详细介绍了加工过程中需注意的姿态及末端位置控制问题,并介绍了该控制过程的方法,完成复杂曲面加工,验证方法的准确性。

Since the 1950s,industrial robots have been widely used in various fields,such as:transportation,packaging,devices,product testing,spraying and so on.Because the industrial robot is easy to operate,the device is convenient and the cost-performance ratio is high,so it can replace the NC machine tool in some cases,such as when the blank is soft and the machining precision is low.The industrial robot used in this paper is Yasukawa MOTOMAN-UP6 with an accuracy of 0.08mm.It uses NURBS curve and surface to finish the machining of complex surface,the method of the control process is introduced,and the accuracy of the method is verified.