圆锥体外表面铺贴机械手工作质量评估方法研究  

Research on working quality evaluation method of cone outer surface mounting manipulator

作　　者：霍凯[1] 刘玉琳[1] 孙江宏[2] 王增刚 何宇凡 HUO Kai;LIU Yulin;SUN Jianghong;WANG Zenggang;HE Yufan(School of Mechanical,Electrical and Control Engineering,Beijing Jiaotong University,Beijing 100044,CHN;School of Mechanical Electrical Engineering,Beijing Information Science&Technology University,Beijing 100192,CHN;Aerospace Research Institute of Materials&Processing Technology,China Academy of Launch Vehicle Technology,Beijing 100076,CHN)

机构地区：[1]北京交通大学机械与电子控制工程学院,北京100044 [2]北京信息科技大学机电工程学院,北京100192 [3]中国运载火箭技术研究院航天材料及工艺研究所,北京100076

出　　处：《制造技术与机床》2023年第5期150-154,共5页Manufacturing Technology & Machine Tool

基　　金：重型运载火箭隔热层等厚加工智能制造装备关键技术研究(KMJB18028536)。

摘　　要：针对圆锥曲面铺贴问题设计一种机械手并对其工作质量进行评估。首先进行机械手构型设计,阐明工作原理并利用修正GK公式计算空间自由度。其次提出铺贴工作质量评估方法,提出表面位移概念用于评价贴合度,分别采集圆周、母线两方向表面位移并计算极差与方差,二方向极差、方差取平均并对其倒数以0.99和0.01为权重加权得到原创铺贴质量评价参数S值。接着以铺贴高度和铺贴力度为变量设计正交试验,采集并计算S值用于得出而变量对铺贴质量的影响程度F值。随后采用不涉及铺贴高度变化的平面铺贴试验文章提出评估方法的有效性。最后在圆锥曲面中应用此方法,结果表明:铺贴力度和铺贴高度中的任意一项单独提升均可提升铺贴质量,在二因素共同作用下,铺贴力度对应F值为10.32,铺贴高度对应F值为3.50。A manipulator is designed for the problem of conical surface mounting and its working quality is evaluated.Firstly,the configuration of the manipulator is designed,the working principle is clarified and the spatial degree of freedom is calculated by using the modified GK formula.Secondly,the quality evaluation method of mounting work is proposed.The concept of surface displacement is proposed to evaluate the degree of fit.The surface displacements in the two directions of circumference and generatrix are collected respectively and the range and variance are calculated.The range and variance in the two directions are averaged and the reciprocals are weighted by 0.99 and 0.01 to obtain the original mounting quality evaluation parameter S value.Thirdly,the orthogonal test is designed with the mounting height and mounting strength as variables,and the S value is collected and calculated to obtain the F value of the influence degree of the variable on the mounting quality.Fourthly,the effectiveness of the evaluation method proposed in this paper is verified by the plane paving test which does not involve the change of mounting height.Finally,this method is applied to the conical surface.The results show that any single increase in the mounting strength and mounting height can improve the mounting quality.Under the combined action of the two factors,the corresponding F value of the mounting strength is 10.32,and the corresponding F value of the mounting height is 3.50.

关 键 词：机构设计 自由度计算 质量评估 曲面铺贴 

分 类 号：TB99[一般工业技术—计量学]