机器人加工几何误差建模研究:Ⅰ空间运动链与误差传递  

The Research of Geometric Error Modeling of Robotic Machining:Ⅰ Spatial Motion Chain and Error Transmission

作　　者：李文龙[1] 谢核 尹周平[1] 丁汉[1] LI Wenlong;XIE He;YIN Zhouping;DING Han(State Key Laboratory of Digital Manufacturing Equipment and Technology,Huazhong University of Science and Technology,Wuhan 430074)

机构地区：[1]华中科技大学数字制造装备与技术国家重点实验室,武汉430074

出　　处：《机械工程学报》2021年第7期154-168,共15页Journal of Mechanical Engineering

基　　金：国家自然科学基金(51535004,52075203);湖北省重点研发计划(2020BAA025);武汉市科技计划(2020010601012173)资助项目。

摘　　要：以机器人作为制造装备执行体,集成视觉等智能传感器,实现大型复杂零件小余量磨削/铣削/切边/制孔是智能制造的前沿研究方向之一,目前加工误差难以降低是制约其应用的主要难题。以加工误差降低为主要目标,以机器人、视觉传感器、工件、工具为主要对象,研究视觉引导的机器人加工几何误差建模与精度控制,具体包括:在第Ⅰ部分介绍几何误差建模与参数辨识国内外研究现状,研究机器人加工空间运动链与加工误差度量指标定义,推导静态误差(源于工件/工具位姿误差)定量传递模型与动态误差(源于关节运动学误差/关节弱刚度)定量传递模型;在第Ⅱ部分建立手眼位姿参数、工件位姿参数、工具位姿参数等精确辨识的目标函数与计算方法,在考虑关节运动学误差和弱刚度变形的情况下,提出面向整体误差控制的机器人加工(磨削/铣削/切边/制孔等)位姿优化通用模型。It is one of the frontier research directions of intelligent manufacturing to use robots as manufacturing equipment executor integrating intelligent vision sensors to realize small margin grinding/milling/cutting/drilling for large and complex parts. At present, the main problem confronting in application is that the machining error is hard to reduce. The study systematically investigates the geometric error modeling and accuracy control of visually-guided robotic machining, where the machining error reduction is regarded as the main objective and the robot/visual sensor/workpiece/tool are regarded as the main targets. The first Ⅰ part introduces the research status of geometric error modeling and parameter identification, studies the spatial motion chain and metric index definition of robotic machining, and derives the static error(originating from workpiece/tool pose error) transmission model as well as dynamic error(originating from joint kinematic error and joint weak stiffness) transmission model. The second Ⅱ part builds the objective function and calculation method of accurate identification for hand-eye/workpiece/tool pose parameters, and proposes a general pose optimization model of robotic machining(grinding/milling/cutting/drilling) for overall error control, where the joint kinematic error and weak stiffness deformation are both considered.

关 键 词：几何误差建模 空间运动链 位姿参数辨识 加工误差传递 

分 类 号：TH161[机械工程—机械制造及自动化]