整体叶盘研磨抛光机器人接触力阻抗控制方法研究  

Research on Contact Force Impedance Control Method of Blisk Grinding and Polishing Robot

作　　者：李论[1,2] 王正佳 赵吉宾 朱光[1,2] 张洪瑶[1,2,3] LI Lun;WANG Zhengjia;ZHAO Jibin;ZHU Guang;ZHANG Hongyao(Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China;Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110169,China;University of Chinese Academy of Sciences,Beijing 100049,China)

机构地区：[1]中国科学院沈阳自动化研究所,沈阳110016 [2]中国科学院机器人与智能制造创新研究院,沈阳110169 [3]中国科学院大学,北京100049

出　　处：《航空制造技术》2022年第9期60-68,共9页Aeronautical Manufacturing Technology

基　　金：国家自然科学基金–辽宁省联合基金(U1908230)。

摘　　要：针对整体叶盘机器人自动化研磨抛光接触力控制的技术难点,对磨抛过程磨抛工具与叶片之间接触力进行分析,将负载静态标定与传感器零点在线补偿相结合,提出了基于零点漂移的机器人磨抛加工负载标定与补偿算法,并将其与基于位置的阻抗控制结合应用于整体叶盘的自动化磨抛加工。负载标定与补偿试验表明,加工过程中采用基本的标定与补偿算法的接触力和力矩的平均误差值从–0.12853N和0.0055N·m增加至–1.9826N和–0.1680N·m,而采用基于零点漂移的标定与补偿算法可将接触力和力矩的平均误差降低至–0.1532N和0.0083N·m,证明了该算法能够有效降低传感器零点漂移对接触力实现计算的影响。同时,力控试验表明,该算法与基于位置的阻抗控制结合能够有效实现对期望接触力的跟踪控制,从而明显提高整体叶盘磨抛加工的表面质量。In order to realize the automatic grinding and polishing technology of blisks,the contact force in the grinding and polishing process was analyzed,and a new load calibration and compensation algorithm based on zero drift was proposed by combining the static calibration of load with the online calibration of sensor zero point.It is applied to the grinding and polishing of blisks in combination with the position-based impedance control.The experimental results of load calibration and compensation show that with the passage of time,the average error of contact force calculated by traditional gravity calibration changes from-0.12853N and 0.0055N·m to-1.9826N and-0.1680N·m.However,it decreases to-0.1532N and 0.0083N·m after the on-line calibration of sensor zero point.It is proved that the algorithm can effectively reduce the influence of sensor zero drift on contact force acquisition.Meanwhile,the force control experiment shows that the combination of the algorithm and the position-based impedance control can effectively track the desired contact force and improve the surface quality of blisk.

关 键 词：整体叶盘 研磨抛光 零点漂移 负载标定 柔顺控制 阻抗控制 

分 类 号：V263.1[航空宇航科学与技术—航空宇航制造工程] TP242[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]