基于正交试验法的3P3R磨削机器人灵活性优化

张栋; 贠超; 宋德政; 高志慧

基于正交试验法的3P3R磨削机器人灵活性优化

北京航空航天大学机械工程及自动化学院, 北京 100191

基金项目: 国家863计划资助项目(2007AA04Z231266); 机械制造系统工程国家重点实验室开放课题研究基金资助项目

详细信息

中图分类号: TP 242.3
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- 被引次数: 0
出版历程
- 收稿日期: 2009-07-23
- 网络出版日期: 2010-09-30

Dexterity optimization based on orthogonal test of 3P3R grinding robot

School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100191, China

摘要

摘要: 针对机器人磨削加工复杂曲面工件时,存在加工路径不连续、需要更换夹具而影响加工精度的问题,提出了一种3P3R磨削机器人.使用D-H法建立了机器人的运动学模型,得到了机器人的正解方程.建立了工件坐标系{W}主动、工具坐标系{T}被动模式的新型机器人系统坐标系,指出了机器人基坐标系{O}与{T}的相对位置是影响磨削机器人的灵活空间的重要因素.采用正交试验法,得到了机器人的第二关节方向的相对位置是影响灵活磨削空间最显著的因素,并且优化了磨削机接触轮相对于机器人摆放的位置,使机器人的灵活磨削空间扩大了1倍,提高了磨削机器人的灵活性.
- 机器人 /
- 磨削 /
- 运动学 /
- 灵活性 /
- 优化 /
- 正交试验
Abstract: The precision is impacted when the robotic grinding path is discontinuous and the gripper needs to be replaced during manufacturing. In order to solve this problem, a new type grinding robot, 3P3R, was proposed. Based on D-H notation, space kinematics modeling of the grinding robot was presented, and the kinematical equation was derived. A new robot frame including active work piece frame {W} and passive tool frame {T} was presented. It was pointed out that the relative position between the base frame of the robot {O} and {T} was a key factor which impacted on dexterous workspace of the grinding robot. The orthogonal test method indicated that the relative position in the direction of second joint of the robot was the most significant factor. Furthermore, the position of the contact wheel relative to the robot was optimized and the volume of the dexterous space was doubled. The dexterity of the robot was improved.
- robots /
- grinding /
- kinematics /
- dexterity /
- optimization /
- orthogonal test

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