机器人铣削加工让刀误差建模与分析

在机器人切削加工工艺过程中,让刀误差是影响切削加工精度的重要因素之一。以球头铣刀铣削加工为研究对象,视其为准静态运动过程,根据机器人静弹性力学模型和球头铣刀切削力模型,建立了机器人切削过程的让刀误差数学模型。同时,提出了一种基于基因遗传算法的刀具姿态优化方法,以减小切削过程的让刀误差。最后,通过仿真分析了切削参数、刀具姿态和机器人刚度等因素对让刀误差的影响,验证了刀具姿态优化方法的可行性。

Modeling and Analysis of Back off Error in Robot Milling Process

In robot milling process, back-off error is an important factor influencing milling accuracy.Ball-end cutter milling which is treated as quasi-static process was studied.A back-off error model for ball-end cutter milling process was established based on the robot static elastic model and the ball-end milling force model.Meanwhile, an optimization method for tool posture was presented using a genetic algorithm to reduce the back-off error in milling process.Finally, simulation was carried out to analyze the influence of cutting parameters, tool posture and robot joint stiffness on back-off error.The feasibility of the optimization method of tool posture is validated.