基于机器人逆运动学的磨削姿态优化方法  

Optimization of grinding posture based on inverse kinematics of robot

作　　者：徐源 尹绪伟 吴超群[1,2] XU Yuan;YIN Xuwei;WU Chaoqun(School of Mechanical and Electronic Engineering,Wuhan University of Technology,Wuhan 430070,CHN;State Key Laboratory of Silicate Materials for Architectures,Wuhan University of Technology,Wuhan 430070,CHN)

机构地区：[1]武汉理工大学机电工程学院,湖北武汉430070 [2]武汉理工大学硅酸盐建筑材料国家重点实验室,湖北武汉430070

出　　处：《制造技术与机床》2022年第5期12-18,共7页Manufacturing Technology & Machine Tool

基　　金：湖北省重点研发计划(2020BA033)。

摘　　要：工业机器人由于其串联结构特性,刚度远远低于数控机床,导致机器人加工存在加工精度低和加工质量差的问题。为提高机器人的加工刚度,提出了一种基于机器人逆运动学的机器人加工姿态求解方法。以IRB6700机器人为研究对象,首先通过比较机器人不同逆姿态对应的加工刚度得到了机器人的最优逆姿态配置,然后进一步考虑机器人加工的冗余性,求解机器人的逆姿态,建立了机器人姿态优化模型并得到了给定加工条件下的优化结果。最后采用有限元仿真验证了机器人逆运动学的磨削姿态优化方法的正确性。For the series structure characteristics of industrial robots,the stiffness of industrial robots is lower than CNC machine tools,which will cause poor processing accuracy and processing quality of the robots.In order to improve the stiffness of industrial robots,a method for solving the processing posture of the robot was proposed based on the inverse kinematics of the robot.This paper takes the IRB6700 robot as the research object.Firstly,the optimal inverse posture configuration of the robot can be obtained by comparing the processing stiffness corresponding to the different inverse postures of the robot.Furthermore,considering the redundancy of robot processing,the inverse attitude of the robot is solved,the robot posture optimization model is established,and the optimization results under the given processing condition are obtained.Finally,finite element simulation is used to verify the correctness of the optimization of grinding posture based on inverse kinematics of robot.

关 键 词：工业机器人 逆运动学 机器人姿态 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]