本文選題：飛機(jī)裝配 + 機(jī)器人�。� 參考：《浙江大學(xué)》2016年博士論文

【摘要】：交點(diǎn)孔作為飛機(jī)大部件裝配連接的關(guān)鍵部位,其位姿精度直接影響飛機(jī)部件之間的互換協(xié)調(diào)性和飛機(jī)整機(jī)的裝配質(zhì)量。為了消除裝配過(guò)程中由于定位和裝配變形等原因形成的累積誤差,保證交點(diǎn)孔位姿精度要求,在飛機(jī)裝配現(xiàn)場(chǎng)需要對(duì)其進(jìn)行精加工。傳統(tǒng)的數(shù)控機(jī)床占地面積大、靈活性差,無(wú)法應(yīng)用于工裝設(shè)備密集、工作空間狹小的飛機(jī)裝配現(xiàn)場(chǎng)。為此,本文提出了一種基于工業(yè)機(jī)器人的交點(diǎn)孔精鏜加工方法,并針對(duì)機(jī)器人存在的機(jī)械剛度較低、定位精度較差、易產(chǎn)生變形和振動(dòng)等問(wèn)題,深入研究了機(jī)器人位姿優(yōu)化、誤差補(bǔ)償和振動(dòng)抑制等關(guān)鍵技術(shù),以保證交點(diǎn)孔的位姿精度和加工質(zhì)量。論文主要研究?jī)?nèi)容和創(chuàng)新點(diǎn)如下:闡述了飛機(jī)交點(diǎn)孔的重要作用及其加工技術(shù)的發(fā)展現(xiàn)狀。介紹了基于工業(yè)機(jī)器人的交點(diǎn)孔精鏜加工系統(tǒng)的結(jié)構(gòu)組成和加工工藝流程。為了實(shí)現(xiàn)機(jī)器人的準(zhǔn)確定位,構(gòu)建了加工系統(tǒng)完整的坐標(biāo)系體系,給出了工具坐標(biāo)系和工件坐標(biāo)系的具體標(biāo)定方法,并采用Denavit-Hartenberg方法建立了系統(tǒng)所用KUKA KR360-2機(jī)器人的運(yùn)動(dòng)學(xué)方程。在深入研究機(jī)器人剛度模型及剛度特性的基礎(chǔ)上,揭示了機(jī)器人在單方向上的平移變形與所受外力之間的嚴(yán)格線性關(guān)系,提出了 一種可以定量地評(píng)價(jià)機(jī)器人處于某一位姿時(shí)剛度大小的性能指標(biāo)。該指標(biāo)具有坐標(biāo)系不變性,參考坐標(biāo)系的不同不會(huì)影響其對(duì)機(jī)器人剛度性能的評(píng)價(jià)結(jié)果。以該指標(biāo)最大化為目標(biāo),對(duì)于普通孔加工(無(wú)干涉、無(wú)第7軸)和飛機(jī)交點(diǎn)孔加工(有干涉、有第7軸)等不同情況,分別建立了不同的機(jī)器人位姿優(yōu)化模型,并采用基于雅克比矩陣的迭代IKP法對(duì)模型進(jìn)行了求解。通過(guò)機(jī)器人受力變形試驗(yàn)驗(yàn)證了剛度性能指標(biāo)的正確性,而機(jī)器人在壁板鉆孔和交點(diǎn)孔鏜孔中的具體應(yīng)用實(shí)例也證明了位姿優(yōu)化方法的有效性。研究了基于激光跟蹤儀的機(jī)器人位姿誤差補(bǔ)償技術(shù)。對(duì)于機(jī)器人末端物體結(jié)構(gòu)復(fù)雜、形狀不規(guī)則而導(dǎo)致其位姿難以直接測(cè)量的情況,提出了一種基于點(diǎn)集匹配運(yùn)算的位姿誤差補(bǔ)償方法,借助于輔助定位點(diǎn),實(shí)現(xiàn)了機(jī)器人位姿誤差的計(jì)算和補(bǔ)償;對(duì)于機(jī)器人鏜孔加工這一特殊情況,提出了一種面向?qū)ο蟮奈蛔苏`差補(bǔ)償方法,直接測(cè)量計(jì)算鏜孔刀具的位置誤差和方向偏差,并對(duì)其進(jìn)行補(bǔ)償。在飛機(jī)交點(diǎn)孔精加工中,通過(guò)上述方法,機(jī)器人末端鏜孔刀具的位置精度可以調(diào)整到0.05mm,方向精度可以調(diào)整到0.05°,滿足了某大型飛機(jī)交點(diǎn)孔的位姿精度要求。在綜合考慮機(jī)器人鏜孔加工特點(diǎn)及其剛度特性的基礎(chǔ)上,研究揭示了鏜孔加工的振動(dòng)機(jī)理:振動(dòng)的主體為機(jī)器人自身,振動(dòng)的類(lèi)型為具有位移反饋的強(qiáng)迫振動(dòng),振動(dòng)時(shí)的刀具運(yùn)動(dòng)軌跡為橢圓,而且該橢圓的形態(tài)與主軸旋轉(zhuǎn)頻率密切相關(guān)。根據(jù)以上結(jié)果,提出了一種基于壓腳機(jī)構(gòu)的振動(dòng)抑制方法,通過(guò)壓腳與工件之間的摩擦力抵消切削力對(duì)機(jī)器人的作用,從而抑制機(jī)器人振動(dòng)的發(fā)生。通過(guò)機(jī)器人鏜孔加工試驗(yàn),驗(yàn)證了上述機(jī)器人振動(dòng)機(jī)理分析的正確性。在飛機(jī)交點(diǎn)孔精鏜加工過(guò)程中,通過(guò)壓腳抑制機(jī)器人的振動(dòng),交點(diǎn)孔孔壁表面粗糙度達(dá)到Ra0.8,孔徑公差達(dá)到H7級(jí),滿足了某大型飛機(jī)交點(diǎn)孔的加工質(zhì)量要求。最后,對(duì)全文工作進(jìn)行了概括總結(jié),并對(duì)有待進(jìn)一步研究的內(nèi)容進(jìn)行了分析展望。
[Abstract]:As the key part of the assembly connection of the aircraft components, the position accuracy of the intersection directly affects the interchangeability and coordination between the aircraft components and the assembly quality of the aircraft. In order to eliminate the cumulative error caused by the location and assembly deformation in the assembly process, and to ensure the accuracy requirements of the position and posture of the intersection, it is needed in the aircraft assembly site. The traditional CNC machine tools have large area and poor flexibility, and can not be applied to the assembly site of aircraft with dense working equipment and small working space. Therefore, this paper puts forward a method of precision boring processing based on industrial robots, which is low in mechanical stiffness, poor in positioning accuracy and easy to produce. The key technologies of robot pose optimization, error compensation and vibration suppression are deeply studied to ensure the position and pose accuracy and processing quality of the intersection holes. The main research contents and innovation points of this paper are as follows: the important role of the plane intersection and the development status of the processing technology are expounded. The industrial machine based on industrial machine is introduced. In order to realize the accurate positioning of the robot, the complete coordinate system of the machining system is constructed, the specific calibration method of the tool coordinate system and the workpiece coordinate system is given, and the KUKA KR360-2 robot used by the system is established by the Denavit-Hartenberg method. On the basis of the study of the stiffness model and stiffness characteristics of the robot, the strict linear relationship between the translational deformation and the external force in the single direction is revealed, and a performance index which can quantitatively evaluate the stiffness of a robot in a certain position is presented. The index has the invariance of the coordinate system. The difference of the reference coordinate system will not affect the evaluation results of the stiffness performance of the robot. With the objective of maximizing the index, the optimization model of the robot position and posture is established for the different conditions of the ordinary hole machining (no interference, no seventh axis) and the machining of the intersection of the plane (there are seventh axes), and the Jacobian matrix is adopted. The iterative IKP method is used to solve the model. The correctness of the stiffness performance index is verified by the force deformation test of the robot, and the practical application of the robot in the drilling of the wall plate and the boring hole of the intersection point also proves the effectiveness of the position and posture optimization method. In the case of complex structure and irregular shape of the robot end, the position and posture of the robot can not be measured directly. A position and attitude error compensation method based on the point set matching is proposed. With the aid of the auxiliary positioning point, the calculation and compensation of the position and posture error of the robot are realized. The position error compensation method of the object orientation is used to directly measure the position error and direction deviation of the boring tool and compensate it. In the precision machining of the plane intersection hole, the position precision of the boring cutter can be adjusted to 0.05mm through the above method, and the direction precision can be adjusted to 0.05 degrees to meet a large aircraft. On the basis of comprehensive consideration of the machining characteristics and stiffness characteristics of the boring hole of the robot, the vibration mechanism of the boring machining is revealed. The main body of the vibration is the robot itself, the type of the vibration is the forced vibration with displacement feedback, the tool path of the tool is ellipse in the vibration and the shape of the ellipse. The rotation frequency of the spindle is closely related. Based on the above results, a method of vibration suppression based on the press foot mechanism is proposed. The vibration of the robot is suppressed by the friction force between the press and the workpiece. The vibration of the robot is suppressed. The vibration mechanism of the robot is verified by the robot boring machining test. Correctness. During the machining process of the aircraft intersection hole, the surface roughness of the intersection hole wall is Ra0.8 and the aperture tolerance reaches H7 by pressing the foot to suppress the vibration of the robot, and the processing quality requirements of a large aircraft intersection hole are met. Finally, the full text work is summarized, and the further research content has been carried out. Analysis of the prospects.

【學(xué)位授予單位】：浙江大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2016
【分類(lèi)號(hào)】：V262.4;TP242.2

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本文編號(hào)：1777070