一种面向弱刚度六轴串联机器人的端铣位姿规划方法及系统
By constructing a Cartesian stiffness matrix and a flexibility ellipsoid model for the robot, and combining instantaneous rigidity mechanics and dynamic programming algorithms, the robot's posture is optimized. This solves the problem of the influence of weak stiffness characteristics in robot pose planning in existing technologies, and improves the flexibility and computational efficiency of the cutting path.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- BEIJING INST OF TECH
- Filing Date
- 2025-07-22
- Publication Date
- 2026-07-17
AI Technical Summary
Existing technologies fail to effectively consider the weak stiffness characteristics of robots in cutting tasks during robot pose planning, resulting in complex dynamic responses, instantaneous changes in cutting thickness affecting cutting force, and optimization algorithms failing to fully consider joint angle reachability and motor movement speed, thus limiting the optimization range and computation speed.
By constructing the robot's Cartesian stiffness matrix and establishing a compliance ellipsoid, the compliance coefficient under the actual cutting force load direction is calculated. Combined with an instantaneous rigidity mechanical model and dynamic programming algorithm, the robot's posture is optimized to improve the compliance performance of the cutting path.
It enables the screening of compliance performance matching features in a specified direction, accurately predicts instantaneous cutting force, and improves the average compliance performance and computational efficiency of end milling paths.
Smart Images
Figure CN120791760B_ABST