多关节研磨机器人系统的研究

介绍了4自由度多关节的自由曲面研磨机器人系统。采用顺运动学和逆运动学原理对该研磨机器人工具端部的运动进行了分析。采用微分元素补偿法，对机器人工具端部的定位精度进行了补偿。并在对工具进行了姿势控制和不进行姿势控制的两种情况下，进行倾斜面磨削加工实验。结果表明，机器人各手臂的对数精度直接影响工具端部的定位主席。通过补偿，其定位精度达到±25μm。对工具进行姿势控制，磨削余量会大幅度减少。

STUDY ON THE GRINDING ROBOT SYSTEM WITH MULTIPLE JOINTS

This paper describes a free curvature grinding robot system with 4-freedom multiple joints. Analysis of motion of the robot tool tip is carried out by the principle of orderly kinematics and reverse kinematics. Compensation of the positioning accuracy of robot tool tip is made by Newton method. Experiments of inclined surface grinding are carried out with and without control on tool posture. The result shows that the parameter accuracies of various arms of robot directly impact the positioning accuracy of the tool tip. Through compensation, the positioning accuracy can reach±25μm. By controlling the posture of tool, grinding allowance can be greatly reduced.