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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.
In order to solve the problem that the machining path is not continuous and the fixture needs to be changed to affect the machining accuracy, a 3P3R grinding robot is proposed for robotic grinding of complex curved surfaces. The kinematics model of the robot is established by DH method, and the robot’s Positive solution equation is established.The new robot system coordinate system of {W} active and tool coordinate system {T} passive mode is established, and it is pointed out that the relative position of {O} and {T} An important factor of flexible space.The orthogonal test method is used to get the relative position of the robot in the second joint direction, which is the most significant factor affecting the flexible grinding space, and the position of the contact wheel of the grinding machine relative to the robot is optimized, Expanding the robot’s flexible grinding space by a factor of 2 increases the flexibility of grinding robots.