大尺度构件重载高精加工机器人本体设计与性能提升关键技术

基于典型大尺度构件的移动机器人化加工需求背景与发展现状的总结与分析，提出了大工作空间、高刚度、高精度、重载、轻量化、高动态响应、大负载自重比的大尺度构件加工机器人本体的基本性能要求。围绕上述基本性能要求，从机器人本体构型与机构优化设计，高性能加工机器人专用控制器与加工机器人操作系统开发，加工机器人运动学参数动态标定及位姿误差实时预测与动态补偿，刚柔耦合多体动力学建模，机器人动力学控制及主动振动控制等方面，论证了重载高精度加工机器人本体的优化设计及机器人性能提升方法，并完成了大尺度构件加工机器人本体构型与机构的概念设计。大尺度构件加工机器人本体的创新设计与研制，可为航空航天等领域的典型大尺度构件提供高性能的超柔性机器人化加工系统，并有助于推动国产工业机器人关键性能的提升。

Key Technologies of Design and Performance Improvement of Heavy-duty and High Precision Machining Robot Bodies for Large-scale Components

According to the summary and analysis of the application background and development status of mobile robot machining for the typical large-scale components， the basic performance requirements of large-scale component processing robot bodies such as the large workspace， high rigidity， high precision， heavy-duty， light-weight， high dynamic response and high load-to-weight ratio were proposed. Furthermore， focusing on the basic performance requirements， the optimization design and robot performance improvement method of heavy-duty and high-precision machining robot bodies were demonstrated， from the aspect of the optimization design of robot body configurations and mechanisms， the development of the high-performance dedicated and professional controller and the open source operating system of machining robots， dynamic calibration of kinematic parameters and real-time prediction and dynamic compensation of pose errors， dynamics modeling of rigid-flexible coupling multibody system， as well as the robot dynamics control and active vibration suppression control. And then， the conceptual design of the configurations and mechanisms of the machining robot bodies utilized on the large-scale components was completed. The innovative design and development of the robot bodies for the large-scale component processing robots may provide high-performance and super flexible robot machining system for the typical large-scale components in aerospace and other fields， and help to promote the improvement of key performance of domestic industrial robots.