切削加工机器人刚度模型研究  

Stiffness Model of a Machining Robot

作　　者：张永贵[1] 刘文洲[1] 高金刚[1] 

机构地区：[1]兰州理工大学机电工程学院,兰州730050

出　　处：《农业机械学报》2014年第8期321-327,共7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(09RJZ001)

摘　　要：通过对机器人臂杆的分析研究,把机器人臂杆当作一个柔性杆进行处理,分别求出其拉伸、扭转和弯曲的挠度,运用误差参数建立运动学模型,从而求得臂杆末端挠度的映射模型,并结合机器人各关节传动误差在机器人操作末端上的挠度误差映射,最终在机器人操作末端叠加关节挠度和臂杆挠度,通过刚度的定义求解出机器人总的操作空间刚度。建立的机器人刚度模型可为机器人切削加工过程中刀具的误差补偿提供依据。Taking robot arm as research objective, this paper analyzes and researches the stiffness model of a machining robot. First, the size of the equivalent stiffness is calculated according to the robot transmission components, which are come down to elastic components and reduced to the corresponding joints. After obtaining the stiffness of each robot joint, the joint deflection performance in robot end is mapped out by using Jacobian matrix. In addition, the robot arm is regarded as a flexible rod, and the deflection deformation models of stretch, torsion and curve are built, respectively. And then the robot kinematics model is established, in which the staging parameters are contained. From calculating the operation end mapping, each arm rod deflection has micro variable. Finally, the joint deflection and arm rod deflection are stacked in the robot operation end, and then the robot general operating space stiffness is solved through stiffness definition.

关 键 词：机器人 关节刚度 切削加工 臂杆刚度 末端挠度 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]