【摘要】：目前,工廠多使用大型數(shù)控加工中心進(jìn)行超大構(gòu)件整體式加工,存在成本高、改造難、利用率低等問題。而銑削加工機(jī)器人具有工作范圍大、成本低和可擴(kuò)展性強(qiáng)的優(yōu)勢,可以解決上述大構(gòu)件整體式加工難題。但相比于數(shù)控機(jī)床,銑削加工機(jī)器人低精度和低剛度的劣勢限制了其在金屬切削領(lǐng)域的進(jìn)一步應(yīng)用,針對該問題,本文在機(jī)器人運(yùn)動學(xué)基礎(chǔ)上定位誤差模型,通過實(shí)驗(yàn)辨識誤差模型相關(guān)參數(shù),制定機(jī)器人定位誤差補(bǔ)償方案和機(jī)器人銑削加工方案降低加工誤差。本文首先對機(jī)器人運(yùn)動學(xué)理論進(jìn)行研究。分析IRB 2400型工業(yè)機(jī)器人結(jié)構(gòu),建立了D-H運(yùn)動學(xué)模型,詳細(xì)推導(dǎo)了機(jī)器人正逆運(yùn)動學(xué)公式和雅克比矩陣,并測試機(jī)器人主要性能指標(biāo)。之后,建立了銑削機(jī)器人加工誤差模型并辨識了模型參數(shù)。從穩(wěn)態(tài)加工角度分析了機(jī)器人加工誤差影響因素,建立銑削力模型并進(jìn)行受力分析。機(jī)器人定位誤差作為加工誤差的主要影響因素,本文在機(jī)器人微分變換基礎(chǔ)上建立機(jī)器人加工誤差模型,包括幾何誤差模型和關(guān)節(jié)誤差模型,并通過辨識實(shí)驗(yàn)完善誤差模型,提出了機(jī)器人幾何誤差補(bǔ)償方案。最后,提出了機(jī)器人銑削加工方案,設(shè)計(jì)了銑削加工實(shí)驗(yàn)。根據(jù)誤差模型及相關(guān)實(shí)驗(yàn)分析,提出了機(jī)器人銑削加工策略和加工對刀方案。根據(jù)機(jī)器人模態(tài)分析研究選定主軸轉(zhuǎn)速,通過銑削力測量實(shí)驗(yàn)驗(yàn)證銑削力模型。對各切削參數(shù)對工件表面粗糙度的影響進(jìn)行了實(shí)驗(yàn)探討。通過銑削加工驗(yàn)證實(shí)驗(yàn)證明了機(jī)器人銑削加工策略和對刀方案可以降低加工誤差。
[Abstract]:At present, large NC machining centers are often used for large component integral machining in factories, which have the problems of high cost, difficult transformation and low utilization ratio. However, the milling robot has the advantages of large working range, low cost and strong expansibility, so it can solve the problem of monolithic machining of the large components mentioned above. However, compared with numerical control machine tools, the disadvantages of low precision and low stiffness of milling robot limit its further application in the field of metal cutting. In view of this problem, the positioning error model based on robot kinematics is proposed in this paper. Through the experimental identification of the parameters of the error model, the robot positioning error compensation scheme and the robot milling scheme are developed to reduce the machining error. Firstly, the kinematics theory of robot is studied in this paper. The structure of IRB 2400 industrial robot is analyzed, the D-H kinematics model is established, the forward and inverse kinematics formula and Jacobian matrix of the robot are derived in detail, and the main performance indexes of the robot are tested. Then, the machining error model of milling robot is established and the model parameters are identified. From the point of view of steady-state machining, the influencing factors of robot machining error are analyzed, and the milling force model is established and the force is analyzed. Robot positioning error is the main influencing factor of machining error. In this paper, the robot machining error model, including geometric error model and joint error model, is established on the basis of robot differential transformation, and the error model is improved by identification experiment. A scheme of geometric error compensation for robot is proposed. Finally, the scheme of robot milling is put forward, and the milling experiment is designed. According to the error model and related experimental analysis, the milling strategy and cutter alignment scheme of robot are put forward. According to the modal analysis of the robot, the spindle speed is selected and the milling force model is verified by the milling force measurement experiment. The influence of cutting parameters on the surface roughness of workpiece is discussed experimentally. The experimental results show that the robot milling strategy and cutter alignment scheme can reduce the machining error.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TG547
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本文編號：2119419