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Robot machining path optimization method based on deformation and dexterity

A robot processing and path optimization technology, applied in the field of mechanical processing, can solve problems such as robot posture changes that are rarely considered, and achieve high precision, easy engineering application, and accurate solution results

Active Publication Date: 2021-12-17
HUAZHONG UNIV OF SCI & TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Existing research mainly focuses on the smoothing optimization of path points and tool axis vectors, but little consideration is given to robot attitude changes caused by the rotation of the robot's end attitude around the tool axis

Method used

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  • Robot machining path optimization method based on deformation and dexterity
  • Robot machining path optimization method based on deformation and dexterity
  • Robot machining path optimization method based on deformation and dexterity

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Embodiment Construction

[0060] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute a conflict with each other.

[0061] The present invention provides a robot processing path optimization method based on deformation amount and dexterity, and the method includes the following steps S1-S5.

[0062] The robot includes a plurality of joints connected in sequence, and a processing tool is connected to the end of the joint, and the tool processes the workpiece to be processed.

[0063] Before the method in this...

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Abstract

The invention belongs to the related technical field of machining, and discloses a robot machining path optimization method based on deformation and dexterity. The robot machining path optimization method comprises the steps that the dexterity of a robot at a path point is obtained, so as to establish a function relation between the dexterity and a rotation angle and a joint angle of a robot joint; the cutting force obtained by a cutter at each path point is obtained, and the deformation amount of the robot is obtained according to the cutting force; weight values are distributed for the dexterity and the deformation to obtain a target function; the target function is solved within the constraint range of the joint angle, the dexterity and the deformation, and then the optimal rotation angle of the robot at the path point is obtained; and according to a robot inverse kinematics calculation method, the posture of the robot at the optimal rotation angle of the path point is converted, and the optimal rotation angle of all joints of the robot at the optimal rotation angle can be obtained. According to the robot machining path optimization method based on the deformation and the dexterity, the machining path of the robot under the constraint of the deformation and the dexterity can be obtained, and the machining path is more reasonable and accurate.

Description

technical field [0001] The invention belongs to the technical field related to machining, and more specifically relates to a method for optimizing a machining path of a robot based on deformation and dexterity. Background technique [0002] Industrial robots have the advantages of high flexibility, large working range, and low cost. Using robots to clamp electric spindles, knives and other executive tools instead of manual or CNC machine tools can realize small margin milling, grinding, polishing, riveting, etc. of large and complex parts. It is becoming a new trend of intelligent manufacturing. For the thin-walled and weak rigidity of large aircraft skin parts, it is easy to deform during the clamping and assembly process, and the design model has no reference value. Intelligent robot processing planning is based on the on-site measurement point cloud. The existing research on machining path planning based on measurement point cloud is mainly aimed at CNC machine tool mach...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J11/00
CPCB25J9/1664B25J9/1612B25J11/005
Inventor 李文龙王刚王东方
Owner HUAZHONG UNIV OF SCI & TECH
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