Feeding speed planning method and device for parallel machining robot

A feed speed and robot technology, applied in the direction of instruments, adaptive control, control/adjustment system, etc., can solve the problem of optimal feed speed planning efficiency of parallel processing robots

Active Publication Date: 2021-06-18
TSINGHUA UNIV
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Problems solved by technology

However, only using the PID control model is not enough to ensure the optim

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  • Feeding speed planning method and device for parallel machining robot
  • Feeding speed planning method and device for parallel machining robot
  • Feeding speed planning method and device for parallel machining robot

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[0049] In order to make the purpose, technical solution and advantages of the application clearer, the technical solution of the application will be clearly and completely described below in conjunction with specific embodiments of the application and corresponding drawings. Apparently, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

[0050] The invention provides a method and device for planning the feed speed of a parallel processing robot. With the rapid development of science and technology, the design of parts is becoming more and more advanced and the complexity is increasing. Typical complex parts such as turbine blades, automotive box parts, aerospace structural parts, etc. Such parts usually ...

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Abstract

The invention provides a feeding speed planning method and device for a parallel machining robot. The method comprises the following steps of building a machining quality multi-target constraint condition of the parallel machining robot based on dynamic characteristics according to a tracking error prediction model, acquiring a spline curve machining path, and solving a feeding speed spline curve corresponding to the spline curve machining path under the machining quality multi-target constraint condition.

Description

technical field [0001] This application relates to the field of robot technology and application, in particular to a method and device for planning feed speed of a parallel processing robot. Background technique [0002] In the existing technology, the design of parts is more and more advanced, and the complexity is constantly increasing. Typical complex parts such as turbine blades, automobile box parts, aviation structural parts, etc. Such parts usually have the characteristics of complex surface features, high material removal rate, and high requirements on processing quality. [0003] In order to achieve high-efficiency and high-quality processing of such parts, processing equipment is required to have the ability of compound angle processing and high-efficiency processing. Traditional processing equipment is developed based on tandem mechanism, which has the advantages of simple structure and large stroke. As a complementary form of serial mechanism, parallel mechanis...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 刘辛军谢福贵解增辉汪劲松
Owner TSINGHUA UNIV
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