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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >A Systematic Model of Machining Error Reduction in Robotic Grinding
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A Systematic Model of Machining Error Reduction in Robotic Grinding

机译：机器人磨削加工误差的系统模型

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摘要

Robotic grinding is a promising automatic technique for free-form surface manufacturing. One important problem that restrains the application of robotic grinding is the machining quality. Existing methods considers only individual kinematic errors or joint stiffness. In this article, a systematic method of error compensation, workpiece position optimization and tool pose optimization is proposed to reduce the machining error. First, the mathematical models of machining error with respect to both kinematic errors and joint stiffness are built using speed and force adjoint transformation, respectively. Compared with existing indirect index evaluation models, this model is improved by directly building the quantitative function relationship between the machining error and the corresponding factors. Based on the model, an error compensation strategy is presented by only fine-tuning the workpiece frame position. Then, an objective function based on the compensated machining error is defined to optimize both the workpiece position and the tool pose. Experiments demonstrate the availability of the proposed method for machining error reduction.
机译：机器人磨削是一种用于自由形式制造的有希望的自动技术。限制机器人磨削应用的一个重要问题是加工质量。现有方法仅考虑单个运动误差或联合刚度。在本文中，提出了一种系统的误差补偿，工件位置优化和工具姿势优化的系统方法以减少加工误差。首先，分别使用速度和力伴随转换构建了相对于运动误差和关节刚度的加工误差的数学模型。与现有的间接索引评估模型相比，通过直接构建加工误差与相应因子之间的定量功能关系来提高该模型。基于该模型，仅通过微调工件框架位置来提出误差补偿策略。然后，定义基于补偿加工误差的目标函数以优化工件位置和工具姿势。实验证明了所提出的加工误差方法的可用性。

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  • 来源
    《Mechatronics, IEEE/ASME Transactions on》 |2020年第6期|2961-2972|共12页
  • 作者

    He Xie; Wen-long Li; Da-Hu Zhu; Zhou-ping Yin; Han Ding;

  • 作者单位

    State Key Laboratory of Digital Manufacturing Equipment and Technology Huazhong University of Science and Technology Wuhan China;

    State Key Laboratory of Digital Manufacturing Equipment and Technology Huazhong University of Science and Technology Wuhan China;

    Hubei Key Laboratory of Advanced Technology for Automotive Components Wuhan University of Technology Wuhan China;

    State Key Laboratory of Digital Manufacturing Equipment and Technology Huazhong University of Science and Technology Wuhan China;

    State Key Laboratory of Digital Manufacturing Equipment and Technology Huazhong University of Science and Technology Wuhan China;

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  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    Machining; Kinematics; Tools; Robot kinematics; Service robots; Mathematical model;

    机译：加工;运动学;工具;机器人运动学;服务机器人;数学模型;

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