切削加工机器人系统综合误差解耦补偿  

Decoupling and Compensation of Synthesis Errors for Machining Robot System

作　　者：张永贵[1] 高金刚[1] 刘文洲[1] 苑明杰[1] 

机构地区：[1]兰州理工大学数字制造技术与应用省部共建教育部重点实验室,兰州730050

出　　处：《农业机械学报》2013年第12期326-331,共6页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家自然科学基金资助项目(51065017);甘肃省自然科学基金资助项目(0916RJZA001)

摘　　要：以6自由度机器人及2自由度变位机为研究对象,运用机器人微分变换理论建立存在误差情况下的运动学方程。针对机器人在切削加工中动、静态误差存在耦合的情况,通过分析切削加工系统的特点,运用摄动法建立了相邻两连杆间的动、静态误差的传递关系,并由此推导出机器人末端执行器与各关节轴动、静态误差的关系,对机器人及变位机各运动副间的误差进行了解耦,建立了切削加工机器人系统的误差补偿模型,并验证了其有效性,为进一步研究机器人末端执行器与各关节及臂杆间的误差关系打下了理论基础。The error kinematics mathematic model of 6-DOF robot and 2-DOF positioner was established on the basis of differential transformation matrix. When robot was machining, the dynamic error and the static error were coupling. The relationship between two adjacent rod of the dynamic error and the static error was analyzed on the perturbation method, and then the relationship of dynamic error and the static error between robot end effector and each joint was built. Based on the perturbation method, the synthesis error compensation model was created by decoupling the dynamic error and the static error, and then the effectivity of the compensation model was proved. The compensation value of each robot joint can be obtained from the model.

关 键 词：切削加工 微分变换 解耦 摄动法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]