基于压脚位移补偿的机器人制孔锪窝深度控制  

Countersink depth control of robot drilling based on pressure foot displacement compensation

作　　者：费少华[1] 方强[1] 孟祥磊[2] 柯映林[1] 

机构地区：[1]浙江大学机械工程学系,浙江杭州310027 [2]西安飞机工业(集团)有限责任公司,陕西西安710089

出　　处：《浙江大学学报（工学版）》2012年第7期1157-1161,1181,共6页Journal of Zhejiang University：Engineering Science

基　　金：中央高校基本科研业务费专项资金资助项目(2011FZA.4002)

摘　　要：为了解决机器人自动制孔过程中由于飞机壁板变形和振动引起的锪窝深度控制问题,提出将终端执行器压脚位移作为实时补偿信号的制孔进给轴全闭环控制系统设计方法;根据制孔过程中压脚振动的实际频率特性,引入低通滤波器,考虑飞机壁板锪窝深度精度要求确定截止频率,有效抑制压脚高频振荡对进给轴位置精度的影响,保证锪窝深度以及加工孔的表面质量.在材料为铝合金的圆弧工件和平面工件上,分别加工直径为5.8和9.8mm的孔.实验结果表明,该系统可将加工孔的锪窝深度误差控制在0.02mm以内,表面粗糙度达到0.8μm.A method of full closed loop control system design for end effector＇s feed shaft was presented in order to ensure the countersink depth of robot drilling caused by the deformation and vibration of the aircraft＇s panels. The displacement of end effector＇s pressure foot was added to countersink depth as real- time compensation. A low-pass filter was introduced to restrain the interference of high frequency vibration to feed shaft＇s positioning accuracy according to the vibration frequency characteristics of the pressure foot during the drilling process. Its cutoff frequency was determined by the countersink depth accuracy of the aircraft＇s panels, and thereby the countersink depth was ensured and the high hole quality was achieved. Drilling with hole diameter 5.8 mm and 9.8 mm on arc and flat aluminum alloy workpiece respectively, the hole quality turned out to be very accurate, with the countersink depth variation at 0.02 mm in the worst case and the surface roughness reaching 0.8 μm.

关 键 词：机器人制孔 锪窝深度 终端执行器 实时补偿 低通滤波器 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]