大型复合材料构件机器人铣边站位优化研究  

Optimization of Robot Milling Station for Large Composite Components

作　　者：王震 郑侃[1] 董松[1] 孙连军 王涛[1] WANG Zhen;ZHENG Kan;DONG Song;SUN Lianjun;WANG Tao(School of Mechanical Engineering,Nanjing University of Science&Technology,Nanjing 210094,China)

机构地区：[1]南京理工大学机械工程学院,南京210094

出　　处：《航空制造技术》2024年第18期91-99,共9页Aeronautical Manufacturing Technology

基　　金：国家自然科学基金(52075265);复杂装备系统动力学前沿科学中心科技领军人才团队项目(FSCCESD220401)。

摘　　要：针对大型复合材料构件机器人铣边站位选取不合理导致加工质量低下的问题,提出基于最优刚度的单机器人多工位铣边站位优化方法。通过机器人运动学正逆解求得机器人刚度,建立与机器人站位相关的刚度函数模型。对不同站位下的机器人铣边任务进行分配,并通过基于刚度的站位优化算法开展机器人铣边站位优化研究,获得机器人刚度最优的一组站位。机器人铣边试验验证了机器人铣边站位的优化效果。结果表明,相比优化前,基于最优刚度的站位优化可显著提升机器人铣边稳定性,使铣边加工表面粗糙度降低33%以上。Aiming at the problem of low machining quality caused by unreasonable selection of robot milling station for large composite components,a single robot multi-station milling station optimization method based on optimal stiffness is proposed.The stiffness of the robot is obtained by the forward and inverse kinematics of the robot,and the stiffness function model related to the robot position is established.The robot milling tasks at different stations are allocated,and the robot milling station optimization research is carried out through the stiffness-based station optimization algorithm to obtain a set of stations with the best robot stiffness.The optimization effect of robot milling position is verified by robot milling experiment.The results show that the station optimization based on the optimal stiffness can significantly improve the stability of the robot milling edge,and reduces the surface roughness of the milling edge by more than 33%compared with before optimization.

关 键 词：机器人加工 站位优化 移动机器人 碳纤维增强基复合材料 大型构件 刚度性能 

分 类 号：TG54[金属学及工艺—金属切削加工及机床] TP242[自动化与计算机技术—检测技术与自动化装置]