一种轻量化五轴全并联加工机器人研发与应用  

Development and application of a lightweight five-axis parallel machining robot

作　　者：解增辉 梅斌[1] 毕伟尧 谢福贵[1,2] 刘辛军[1,2] XIE Zenghui;MEI Bin;BI Weiyao;XIE Fugui;LIU Xin-Jun(Department of Mechanical Engineering(DME),Tsinghua University,Beijing 100084,China;Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipments and Control,Tsinghua University,Beijing 100084,China)

机构地区：[1]清华大学机械工程系,北京100084 [2]清华大学精密超精密制造装备及控制北京市重点实验室,北京100084

出　　处：《物联网学报》2021年第3期10-20,共11页Chinese Journal on Internet of Things

基　　金：国家自然科学基金资助项目(No.51922057,No.91748205);清华大学水木学者计划(No.2021SM021)。

摘　　要：航空结构件、涡轮叶片等具有空间自由曲面特征的复杂零件是国防、航空航天、能源等领域装备的核心零件,通常具有材料去除率大、尺寸精度和表面质量要求高的特点。传统的串联式五轴加工中心在加工此类零件过程中会面临刀具过极点自动回转和驱动轴动态响应速率不匹配两个问题。针对上述问题,从加工装备构型角度出发,充分利用并联机器人在结构紧凑性、刚度、运动灵活性、动态响应速率等方面的优势,开发了兼具姿态耦合运动和驱动轴动态响应速率匹配特点的轻量化五轴全并联加工机器人,并开展了其优化设计、运动控制、精度保证等关键技术研究,实现了复杂曲面零件的高效高质量加工,最后在航空工业成都飞机工业(集团)有限责任公司进行应用验证。In the fields of national defense,aerospace,and energy,there exist plenty of complex surface core parts,for example,the aircraft structural components and turbine blades.These parts usually have the machining requirements of large material removal rate,high dimensional accuracy and high surface quality.The traditional five-axis serial machine centers face two problems in the machining process:(1)the tool will automatically rotate when it passes through the pole posture;(2)the driving axes’dynamic response does not match.It was tried to solve these problems from the view of machining equipments’configuration.By making fully use of the advantages of parallel robots in compact structure,high stiffness,kinematic flexibility and dynamic response,a lightweight five-axis parallel machining robot with attitude coupling motion and uniform driving axes’dynamic response was developed.The optimal design,motion control,and precision guarantee were carried out to realize the high-efficiency and high-quality machining of complex curved parts.Finally,the application verification in AVIC(Aviation Industry Corporation of China)Chengdu Aircraft Industrial(Group)Co.,Ltd.was conducted.

关 键 词：五轴并联加工机器人 轻量化 姿态耦合运动 应用验证 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]