Deformation prediction and compensation method of three-dimensional stone carving robot processing system
A technology of robot processing and compensation method, which is applied to processing models, engraving, manipulators, etc., can solve problems such as low rigidity characteristics, deformation, and the dimensional accuracy of processed stones does not meet the requirements, and achieve the effect of improving accuracy
Active Publication Date: 2019-03-08
HUAQIAO UNIVERSITY
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Problems solved by technology
However, due to the low stiffness characteristics of the three-dimensional stone carving robot processing system, when the robot is carving stone, the external load and the gravity of the end effector will cause the deformation of the three-dimensional stone carving robot processing system, resulting in deviation of the end tool trajectory, resulting in processing The dimensional accuracy of the stone does not meet the requirements and is scrapped
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Embodiment 1
[0072] Taking the QD KUKA2900 three-dimensional stone carving robot processing system as the research object, the kinematics model of the three-dimensional stone carving robot processing system is established, and its corresponding D-H parameters are shown in Table 1:
[0073] Table 1 D-H parameters corresponding to the initial configuration of the three-dimensional stone carving robot processing system
[0074] Table 1 DH parameters of three-dimensional stone carving robot processing system
[0075]
[0076] According to the established D-H parameters, the positive kinematic equation for solving the three-dimensional stone carving robot processing system is:
[0077]
[0078] In the formula,
[0079]
[0080] Based on the vector product method, given a set of joint angle values θ=[0 -45 0 0 90 0], the velocity Jacobian matrix and the force Jacobian matrix of the three-dimensional stone carving robot processing system are solved as follows:
[0081]
[0082...
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The invention relates to a deformation prediction and compensation method of a three-dimensional stone carving robot processing system. The deformation prediction and compensation method comprises thesteps that a kinematic model of the three-dimensional stone carving robot processing system is constructed, and a Jacobian matrix of the three-dimensional stone carving robot processing system is solved; a robot stiffness identification experiment is designed, the joint stiffness of the three-dimensional stone carving robot processing system is identified, and the mapping relationship of stiffness from a joint space to a Cartesian space at the end is established; according to the position and posture of the three-dimensional stone carving robot processing system and the external force received during processing, a joint stiffness model is used for predicting the tail end deformation value and each joint deformation value of the three-dimensional stone carving robot processing system; andaccording to the predicted deformation of each joint, the angle of each joint is adjusted to eliminate the deformation at the tail end of the robot processing system for processing three-dimensional stone carvings. The quantitative compensation of the structural deformation value of any three-dimensional stone carving robot processing system is realized, and the tool path precision of the three-dimensional stone carving robot processing system is improved when stone is processed.
Description
technical field [0001] The invention relates to a deformation prediction and compensation method of a three-dimensional stone carving robot processing system, which belongs to the field of new technologies for stone mechanical arm processing. Background technique [0002] In the stone industry, stone carving, as an art, is the perfect combination of stone and carving art. It has been recording the development of world civilization. It is the main carrier of human culture and art inheritance, and has high artistic and cultural value. Although stone processing technology has made great progress, for the processing of three-dimensional stone carving products, my country still mainly relies on manual processing with electric tools. The traditional processing method of three-dimensional stone carving products has a long cycle, low productivity, and high labor costs. The quality of the product depends entirely on the accumulation of workers' professional skills, resulting in low yi...
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IPC IPC(8): B25J9/16B25J11/00B44B1/00B44B3/00
CPCB25J9/1607B25J9/1664B25J11/00B44B1/006B44B3/009
Inventor 尹方辰王柴志薛海昂吴湘成纪清智严文俊黄身桂黄吉祥
Owner HUAQIAO UNIVERSITY