基于MOTOMAN UP50型机器人的切削加工误差补偿方法  

The compensation method of machining error based on MOTOMAN UP50 robot

作　　者：张永贵[1] 程兵 邹琰 黄中秋 ZHANG Yonggui;CHENG Bing;ZOU Yan;HUANG ZHongqiu(School of Mechanical&electronical Engineering, Lanzhou University of Technology,Gansu Lanzhou,730050,China)

机构地区：[1]兰州理工大学机电工程学院,甘肃兰州730050

出　　处：《机械设计与制造工程》2018年第3期46-50,共5页Machine Design and Manufacturing Engineering

摘　　要：工业机器人由于刚度不足会在切削加工中产生切削深度误差,在分析了产生切削深度误差的主要原因后,利用机器人逆运动学原理在切削深度误差与关节间隙误差之间建立一个映射关系,通过调整机器人各关节角来改善机器人的切削加工精度。最后通过对实验结果进行分析计算,证明所采用的误差补偿方法是正确有效的。An industrial robot has cutting depth errors in cutting machining because of its shortage of rigidity.It identifies the main factor causing cutting depth errors.and uses the inverse kinematics of the robot to create a mapping between cutting depth errors and joint clearance errors.It adjusts each joint angle of the robot and improves the accuracy of the robot.The analysis and calculation of experimental results finally prove that the presented compensation method is correct and effective.

关 键 词：工业机器人 切削深度误差 逆运动学 关节角补偿 

分 类 号：TH124[机械工程—机械设计及理论]