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设计了一种曲面柔性制孔机器人末端执行器,并针对该末端执行器提出了一种法向姿态调整的新算法.空间不共面四点可以确定一个与之相切的球面,求出该球面的半径及球心位置,以该球面近似代表制孔点区域的曲面,联结制孔点与该球面球心的矢量即可近似代表制孔点曲面的法矢量.根据这一原理,该算法首先用4个位移传感器测量出曲面上制孔区域内4个点的坐标,并由此计算出制孔位置的法向矢量,然后计算出此法向矢量与末端执行器上电主轴的轴线矢量的误差.根据该误差,进一步计算出末端执行器上2个旋转轴的旋转角度及制孔机器人另外3个直线移动方向的移动距离,从而实现调整主轴在制孔点与曲面垂直的功能.针对2种类型曲面的仿真结果表明,根据该算法可以实现较高的调整精度和效率.
A flexible boring robot end effector with curved surface is designed and a new algorithm for normal pose adjustment is proposed for the end effector. A non-coplanar four-point can determine a tangent spherical surface, The radius of the spherical surface and the position of the center of the sphere, the spherical surface approximately represents the surface of the hole making area, and the vector connecting the hole making point and the spherical spherical center can approximately represent the normal vector of the hole making surface. According to this principle, Firstly, using four displacement sensors to measure the coordinates of the four points in the hole making area on the surface, and then calculating the normal vector of the hole making position, and then calculating the normal vector of the end effector and the axial vector Of the error.According to the error, the rotation angle of the two rotary axes on the end effector and the movement distance of the other three linear movement directions of the boring robot are further calculated, so as to adjust the function that the main axis is perpendicular to the curved surface at the hole making point. The simulation results of two types of surfaces show that the algorithm can achieve higher adjustment accuracy and efficiency.