基于机器人与机床联合工作的误差测量与解耦  

Research on Error Measurement and Decoupling Based on Joint Work of Robot and Machine Tool

作　　者：苗奎奎 李巍 闫利文 MIAO Kuikuia;LI Wei;YAN Liwen(Tianjin Key Laboratory of Advanced Electromechanical System Design and Intelligent Control,Tianjin University of Technology,Tianjin 300384,China;National Experimental Teaching Demonstration Center of Mechanical and Electrical Engineering,Tianjin University of Technology,Tianjin 300384,China;Shool of Mechanical Engineering,Tianjin Sino-German University of Applied Sciences,Tianjin 300350,China)

机构地区：[1]天津理工大学天津市先进机电系统设计与智能控制重点实验室,天津300384 [2]天津理工大学机电工程国家级实验教学示范中心,天津300384 [3]天津中德应用技术大学机械工程学院,天津300350

出　　处：《组合机床与自动化加工技术》2024年第4期83-86,91,共5页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：天津市教委科研计划项目自然科学项目(2021KJ100);2023年天津企业科技特派员项目(23YDTPJC00880)。

摘　　要：工业机器人与数控机床联合工作在自动化生产及智能制造中发挥着重要作用。为了解决机器人与数控机床联合工作时产生的误差问题,在其联合工作的条件基础上建立了机器人与机床的综合误差模型,将机器人与数控机床分为两个运动支链。考虑到二者之间的相互关系,提出了一种利用机床测头进行联合误差测量的方法,通过对机器人和数控机床的联合运动进行测量,来获取系统的总体误差信息。针对数控机床运动支链的误差测量与辨识,采用NUBRS曲线作为机床的运动轨迹,在此基础上建立了数控机床几何误差辨识模型,该模型包含了27项误差元素。经过实验验证,在测量出机床与机器人联合工作所产生的空间误差后,有效辨识出数控机床4个坐标系共27项误差元素。The joint work of industrial robots and CNC machine tools plays an important role in automated production and intelligent manufacturing.In order to solve the error problem caused by the joint work of ro-bot and CNC machine tool,the comprehensive error model of robot and CNC machine tool is established based on the conditions of joint work,and the robot and CNC machine tool are divided into two moving branch chains.Considering the relationship between the two,a method of joint error measurement using ma-chine tool probe is proposed.By measuring the joint motion of robot and CNC machine tool,the overall er-ror information of the system can be obtained.Aiming at the error measurement and identification of the ki-nematic branch chain of CNC machine tool,NUBRS curve is used as the kinematic trajectory of the ma-chine tool,and the geometric error identification model of CNC machine tool is established on this basis,which contains 27 error elements.The experimental results show that 27 error elements in four coordinate systems of CNC machine tools are identified effectively after measuring the spatial errors produced by the joint work of machine tools and robots.

关 键 词：五轴机床 工业机器人 NUBRS曲线 空间误差辨识 误差因素 

分 类 号：TH16[机械工程—机械制造及自动化] TG502[金属学及工艺—金属切削加工及机床]