Static and dynamic error comprehensive compensation method for robot grinding and polishing of aircraft composite components

Abstract

The invention belongs to the field of composite material component robot grinding and polishing machining, and particularly discloses a static and dynamic error comprehensive compensation method for aircraft composite material component robot grinding and polishing machining. The method comprises the steps of building an airplane composite material component robot grinding and polishing machiningcoordinate system measuring system; establishing a global coordinate system of the robot machining system; constructing a robot dynamics recursion model; identifying static parameters of the robot machining system, and establishing a robot distance error calibration model to compensate geometric errors of the robot body; constructing a robot machining dynamic error compensation model; performing optimization training on the robot machining dynamic error compensation model according to the robot machining dynamic error theoretical data set and the priori knowledge data set; and carrying out error compensation on the robot tail end pose according to the optimized robot machining dynamic error compensation model. According to the method, the coordinate system global control network is accurately constructed under the constraint of the kinetic model, comprehensive analysis of an error chain is facilitated, and the robot grinding and polishing machining profile precision is guaranteed.

Description

technical field [0001] The invention belongs to the field of robotic grinding and polishing of composite components, and more particularly relates to a comprehensive compensation method for static and dynamic errors in robotic grinding and polishing of aircraft composite components. Background technique [0002] Carbon fiber composite materials have been widely used in aerospace structural materials because of their excellent properties such as high temperature resistance, friction resistance, high strength, low density, corrosion resistance, light weight and high strength, and performance design. The key to globalization, its dosage has become one of the symbols of the advancement and international competitiveness of aerospace vehicles. According to statistics, Z10 helicopter composite materials (hereinafter referred to as "composite materials") accounted for 90%, J20 fighter aircraft composite materials accounted for about 40%, CR929 passenger aircraft composite materials ...

AI Technical Summary

Problems solved by technology

However, at present, the global error chain in the robot grinding and polishing process is not comprehensively established, and it is difficult to effectively capture errors such as attitude, calibration, measurement and processing, which seriously affects the processing surface accuracy of the workpiece, and limits the application of robot grinding and polishing in the intelligent production of aircraft composite components. application in

[0005] Based on the above defects and deficiencies, there is an urgent need in this field to propose a comprehensive compensation method for static and dynamic errors in robotic grinding and polishing of aircraft composite components to solve the problems of low precision, poor product consistency, and low processing efficiency in actual aircraft composite component robotic grinding and polishing. advanced questions

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