机器人铣削加工让刀误差建模与分析  

Modeling and Analysis of Back-off Error in Robot Milling Process

作　　者：张斌[1] 宋亚勤[1] 唐琛[1] 

机构地区：[1]中国计量学院,浙江杭州310018

出　　处：《机床与液压》2017年第3期54-57,72,共5页Machine Tool & Hydraulics

基　　金：浙江省教育厅项目(Y201328094);浙江省‘仪器科学与技术’重中之重学科人才培育计划项目资助;浙江省公益技术应用研究项目(2014C31109)

摘　　要：在机器人切削加工工艺过程中,让刀误差是影响切削加工精度的重要因素之一。以球头铣刀铣削加工为研究对象,视其为准静态运动过程,根据机器人静弹性力学模型和球头铣刀切削力模型,建立了机器人切削过程的让刀误差数学模型。同时,提出了一种基于基因遗传算法的刀具姿态优化方法,以减小切削过程的让刀误差。最后,通过仿真分析了切削参数、刀具姿态和机器人刚度等因素对让刀误差的影响,验证了刀具姿态优化方法的可行性。In robot milling process, back-off error is an important factor influencing milling accuracy. Ball-end cutter milling which is treated as quasi-static process was studied. A back-off error model for ball-end cutter milling process was established based on the robot static elastic model and the ball-end milling force model. Meanwhile, an optimization method for tool posture was presented using a genetic algorithm to reduce the back-off error in milling process. Finally, simulation was carried out to analyze the influence of cutting parameters, tool posture and robot joint stiffness on back-off error. The feasibility of the optimization method of tool posture is validated.

关 键 词：机器人 铣削 让刀误差 建模优化 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]