Rigidity performance based robot drilling machining system layout method
A processing system and layout method technology, applied in the direction of manipulators, manufacturing tools, program-controlled manipulators, etc., can solve the problems of low rigidity, low rigidity performance, low end positioning accuracy, etc., and achieve the effect of improving processing accuracy
Inactive Publication Date: 2020-05-22
SHANGHAI UNIV
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Problems solved by technology
Most of the robots used for drilling are series robots. The series robots have a space cantilever beam structure, so the rigidity performance is low. The error at the end is the accumulation and amplification of the errors of each joint and connecting rod, and the positioning accuracy of the end is low.
According to the current research status of stiffness, the problem of low stiffness caused by the machining attitude can be effectively solved by optimizing the robot machining attitude. The robot machining attitude depends on the layout of the robot machining system and the attitude of the robot end. However, the influence of the layout on the stiffness performance is often have been ignored, the layout of the current robotic drilling system is usually based on the experience of the designer, there is no quantitative selection criteria
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[0035] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments.
[0036] like figure 1 As shown, a layout method of robotic drilling processing system based on stiffness performance, the specific steps are as follows:
[0037] Step 1: Build the robot stiffness model based on the robot kinematics matrix:
[0038] According to the equivalent transformation principle, the flexible joint is replaced by an equivalent torsion spring; in this case, the joint stiffness is represented by the spring constant, and the 6DOF robot joint stiffness is represented by the diagonal matrix as:
[0039] K q =diag(k 1 ,k 2 ,k 3 ,k 4 ,k 5 ,k 6 ) (1)
[0040] Among them, K q is the robot joint stiffness matrix, k 1 to k 6 is the joint stiffness of the robot;
[0041] Through the robot Jacobian matrix J, the mapping relationship from the joint stiffness matrix to the operation stiffness matrix is derived as:
[0042] ...
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The invention provides a rigidity performance based robot drilling machining system layout method. According to the method, firstly, a robot tail end operation rigidity matrix is established based ona robot Jacobian matrix and joint rigidity, by establishing a robot rigidity performance index-Rayleigh quotient, a value of the Rayleigh quotient of a robot at each layout point is calculated, and ascalar measure is provided for the robot rigidity matrix, through analysis of the Rayleigh quotient value obtained through calculation, a change rule of the rigidity performance of the robot is obtained, layout distribution of a robot drilling system is obtained, the reasonable layout of the robot drilling system is finally obtained in combination with actual requirements of a factory, under the layout, the rigidity performance of the robot is optimal, the layout method is applied to an industrial machining system, so that the machining precision of the robot is remarkably improved.
Description
technical field [0001] The invention belongs to the technical field of robot processing application, and relates to a robot drilling processing system layout method based on stiffness performance. Background technique [0002] With the continuous improvement of the position accuracy and load capacity of robots, robot technology has attracted the attention of the majority of aviation companies. Automatic drilling is the most widely used robot technology in the aviation field. The robot has the advantages of good flexibility, high intelligence and low cost. In the field of aircraft assembly, the drilling workload is huge, and its positional accuracy and quality are very important. The robots used for drilling are mostly tandem robots. The tandem robots have a space cantilever beam structure, so the stiffness performance is low. The error at the end is the accumulation and amplification of the errors of each joint and link, and the positioning accuracy of the end is low. Acco...
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IPC IPC(8): B25J11/00B25J9/16
CPCB25J11/005B25J9/1605
Inventor 李龙张清妍田应仲
Owner SHANGHAI UNIV