机器人回转体加工中的转台协调跟踪研究与实验  

Research and experiment on coordinated tracking of turntable in robot turning body machining

作　　者：肖明 王俊 李扬斌 庄鹏程 席文明 XIAO Ming;WANG Jun;LI Yangbin;ZHUANG Pengcheng;XI Wenming(School of Aeronautics and Astronautics,Xiamen University,Xiamen 361002)

机构地区：[1]厦门大学航空航天学院,福建厦门361102

出　　处：《制造技术与机床》2020年第11期13-17,共5页Manufacturing Technology & Machine Tool

摘　　要：与数控加工不同,机器人可以通过扩展外部轴实现大尺寸、复杂产品的加工。研究转台协调跟踪机器人运动的方法,实现机器人对回转体的加工。首先,利用PowerMill软件产生加工刀轨迹,并对产生的刀轨迹进行线性插补。将插补后的空间点坐标进行后置处理并赋值给机器人,产生机器人的运动轨迹,而插补后的转角赋值给转台。然后,利用卡尔曼滤波器预测机器人相邻轨迹点的运动时间,并将该时间赋值给转台,实现转台协调跟踪机器人的运动。最后,依据相邻轨迹点的弦高,对轨迹点进行弦高插补,进一步提高转台的跟踪精度。实验结果表明,采用线性插补后,其转台平均转角误差在-0.121°~0.086°。弦高插补后,其径向轨迹误差由1 mm减少到0.1 mm。Different from NC machining,robot can process large-scale and complex products by expanding external axis.In this paper,the method of tracking robot’s motion by turntable is studied,and the robot’s machining of the rotating body is realized.Firstly,the tool path is generated by software,and the generated tool path is linearly interpolated.The space point coordinates after interpolation are post processed and assigned to the robot to generate the robot’s trajectory,while the angle after interpolation is assigned to the turntable.Kalman filter is used to predict the movement time of the robot’s adjacent trajectory points,and the time is assigned to the turntable to realize the turntable’s coordinated tracking of the robot’s movement.Secondly,according to the chord height of the adjacent track points,the chord height interpolation of the track points is carried out to further improve the tracking accuracy of the turntable.The experimental results show that the average angle error of the turntable is-0.121°~0.086°after linear interpolation.After the chord height interpolation,the radial trajectory error is reduced from 1 mm to 0.1 mm.

关 键 词：机器人 转台 协调跟踪 卡尔曼滤波器 弦高插补 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]