Parallel processing robot feed speed planning method and device

A feed rate, robot technology, applied in the direction of instrument, adaptive control, control/regulation system, etc., can solve the problems of optimal efficiency of parallel processing robot feed rate planning and so on

Active Publication Date: 2022-04-19
TSINGHUA UNIV
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  • Application Information

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Problems solved by technology

However, only using the PID control model is not enough to ensure the optimal efficiency of feed speed planning for complex parallel processing robots.

Method used

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  • Parallel processing robot feed speed planning method and device
  • Parallel processing robot feed speed planning method and device
  • Parallel processing robot feed speed planning method and device

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Embodiment Construction

[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 present application provides a feed speed planning method and device for a parallel processing robot. The method includes the following steps: according to the tracking error estimation model, establishing a multi-objective constraint condition for the processing quality of the parallel processing robot based on dynamic characteristics; obtaining a sample the processing path of the spline curve; solving the spline curve of the feed rate corresponding to the processing path of the spline curve under the multi-objective constraint condition of the processing quality.

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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Patent Type & Authority Patents(China)
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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