机械工程学报 ›› 2021, Vol. 57 ›› Issue (7): 154-168.doi: 10.3901/JME.2021.07.154
李文龙, 谢核, 尹周平, 丁汉
收稿日期:
2020-04-03
修回日期:
2020-11-01
出版日期:
2021-04-05
发布日期:
2021-05-25
通讯作者:
李文龙(通信作者),男,1980年出生,教授,博士研究生导师。主要研究方向为机器人加工几何建模、大型复杂零件视觉测量。E-mail:wlli@mail.hust.edu.cn
作者简介:
谢核,男,1990年出生,博士研究生。主要研究方向为机器人加工几何建模。E-mail:xiehe@mail.hust.edu.cn;尹周平,男,1972年出生,教授,博士研究生导师。主要研究方向为电子制造技术与装备、数字化智能化制造等。E-mail:yinzhp@mail.hust.edu.cn;丁汉,男,1963年出生,教授,博士研究生导师,中科院院士。主要研究方向为机器人加工、数字化智能化制造等。E-mail:dinghan@mail.hust.edu.cn
基金资助:
LI Wenlong, XIE He, YIN Zhouping, DING Han
Received:
2020-04-03
Revised:
2020-11-01
Online:
2021-04-05
Published:
2021-05-25
摘要: 以机器人作为制造装备执行体,集成视觉等智能传感器,实现大型复杂零件小余量磨削/铣削/切边/制孔是智能制造的前沿研究方向之一,目前加工误差难以降低是制约其应用的主要难题。以加工误差降低为主要目标,以机器人、视觉传感器、工件、工具为主要对象,研究视觉引导的机器人加工几何误差建模与精度控制,具体包括:在第I部分介绍几何误差建模与参数辨识国内外研究现状,研究机器人加工空间运动链与加工误差度量指标定义,推导静态误差(源于工件/工具位姿误差)定量传递模型与动态误差(源于关节运动学误差/关节弱刚度)定量传递模型;在第II部分建立手眼位姿参数、工件位姿参数、工具位姿参数等精确辨识的目标函数与计算方法,在考虑关节运动学误差和弱刚度变形的情况下,提出面向整体误差控制的机器人加工(磨削/铣削/切边/制孔等)位姿优化通用模型。
中图分类号:
李文龙, 谢核, 尹周平, 丁汉. 机器人加工几何误差建模研究:I空间运动链与误差传递[J]. 机械工程学报, 2021, 57(7): 154-168.
LI Wenlong, XIE He, YIN Zhouping, DING Han. The Research of Geometric Error Modeling of Robotic Machining: I Spatial Motion Chain and Error Transmission[J]. Journal of Mechanical Engineering, 2021, 57(7): 154-168.
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