Cutting machining robot static error compensation and dynamic stiffness model correction method

A static error and cutting processing technology, which is applied in the direction of manipulators, manufacturing tools, program control manipulators, etc., can solve the problems of low repeat positioning accuracy, poor stiffness, cumbersome error analysis and control, etc., to reduce the difficulty of implementation, improve precision, and solve the problem of machining The effect of poor precision

Active Publication Date: 2020-04-07
QILU UNIV OF TECH
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  • Application Information

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Problems solved by technology

[0004] The present invention aims at the problems of low repetitive positioning accuracy, poor stiffness, cumbersome error analysis and control of industrial robots, etc., and provides a method of static error compensation and dynamic stiffness model for cutting processing robots Correction method

Method used

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  • Cutting machining robot static error compensation and dynamic stiffness model correction method
  • Cutting machining robot static error compensation and dynamic stiffness model correction method
  • Cutting machining robot static error compensation and dynamic stiffness model correction method

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Embodiment 1

[0069] combined with figure 1 , this embodiment proposes a method for static error compensation and dynamic stiffness model correction of a cutting robot. The implementation process of this method includes:

[0070] Step S100 , perform kinematic calibration on the robot according to the description file of the robot body parameters, identify the structural parameters of the robot, perform static error compensation, and record measurement and calculation data during the calibration process.

[0071] combined with figure 2 , in step S100, the description file of the robot body parameters involved is a normative file that can completely describe the robot body parameters, and the generation process of the description file includes:

[0072] S101. Analyze the sensitivity of the dynamic characteristics of the robot according to the structural parameters of the robot. The structural parameters include three types: functional components, joint connection methods, and structural com...

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Abstract

The invention discloses a cutting machining robot static error compensation and dynamic stiffness model correction method and belongs to the robot machining technical field. According to the technicalschemes of the invention, the method comprises the steps that: kinematics calibration is conducted on a robot according to the description file of robot body parameters, robot structure parameters are identified, static error compensation is conducted, and meanwhile, the measurement and calculation data of a calibration process are recorded; a whole robot dynamic stiffness model is established, modal parameters are identified through a modal analysis experiment, and modal experiment data are recorded; whether the pose precision and dynamic stiffness model of the robot meet the tail end positioning precision requirement of the robot or not is detected, if the pose precision and dynamic stiffness model of the robot do not meet the tail end positioning precision requirement, kinematics calibration is performed on the stress conditions of the robot under different poses, elastic deformation error caused by the dead weight of the robot in the calibration process is calculated, and the static error compensation and the whole robot dynamic stiffness model in the calibration process are corrected, and if the pose precision and dynamic stiffness model of the robot meet the tail end positioning precision requirement, the correction of the static error compensation and the dynamic stiffness model of the robot is finished.

Description

technical field [0001] The invention relates to a cutting robot, in particular to a method for static error compensation and dynamic stiffness model correction of a cutting robot. Background technique [0002] The progress and application of industrial robot technology is an important means and key link to promote the development of intelligent manufacturing in my country. Industrial robots have high flexibility, low cost, large working space, and flexible position and posture control. When they are applied to cutting processing, they can adapt to the modern production mode requirements of multi-variety, small batch, and on-site processing, significantly reduce production costs, and improve equipment and processing space. The utilization rate can effectively improve the speed of technological innovation and the competitiveness of enterprises. However, industrial robots have problems such as low repeat positioning accuracy, poor stiffness, and cumbersome error analysis and c...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1692B25J9/1605
Inventor 周婷婷
Owner QILU UNIV OF TECH
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