基于MOTOMAN UP50型机器人的切削加工误差补偿方法研究

发布时间：2018-04-22 17:29

本文选题：工业机器人 + 运动学　；参考：《兰州理工大学》2017年硕士论文

【摘要】：随着科学技术的进步,工业机器人在生产制造尤其是机械加工领域越来越受到研究、生产单位和专家学者的重视,这得益于工业机器人本身具备的价格低、灵活性好等优点,在加工零件,特别是在加工复杂的曲面零件时,具有难以取代的优势。本文就以机器人应用于切削加工为出发点,分析了引起机器人切削加工误差的主要因素,将这些因素导致的误差集中体现为机器人的关节间隙误差,以机器人运动学为基础,按照误差传递的原则,分析切削加工时机器人末端执行件总的切削加工误差。按照笛卡尔空间与机器人关节空间的映射关系,将三维基坐标系误差映射为关节坐标系误差,通过对关节间隙误差的预补偿从而在一定程度上提高机器人的整体切削加工精度。本文主要研究的内容包括:(1)以Motoman UP50型机器人为研究对象,已知该机器人的连杆参数,利用机器人连杆变换公式建立了该机器人的正向和逆向运动学模型。(2)建立简单的机器人切削加工系统,分析该系统中切削加工误差的主要来源,以机器人运动学为基础,研究分析了在机器人存在切削加工误差时如何采用简单方便的方法补偿切削加工误差,最后利用Motoman UP50型机器人验证误差补偿方法的正确性与可行性。(3)针对误差补偿方法计算量大、步骤较多的缺陷进行研究,探讨了一种以神经网络代替机器人运动学预测计算机器人切削加工误差的方法,该方法可以简化误差补偿方法的计算量,及时有效地为提高机器人切削加工精度提供支撑。
[Abstract]:With the progress of science and technology, industrial robots have been paid more and more attention to in the field of production and manufacture, especially in the field of mechanical processing. This is due to the advantages of low price and good flexibility of industrial robots. In machining parts, especially in the machining of complex curved surface parts, there is an irreplaceable advantage. In this paper, the main factors causing the machining errors of the robot are analyzed based on the robot application in cutting machining. The errors caused by these factors are concentrated in the joint clearance errors of the robot and based on the kinematics of the robot. According to the principle of error transfer, the total machining error of robot end actuator is analyzed. According to the mapping relationship between Cartesian space and robot joint space, the three-wiki coordinate system error is mapped to the joint coordinate system error. The main contents of this paper are as follows: (1) taking Motoman UP50 robot as the research object, the connecting rod parameters of the robot are known. The forward and reverse kinematics model of the robot is established by using the transformation formula of the robot connecting rod. A simple robot machining system is established. The main sources of machining errors in the system are analyzed, and the kinematics of the robot is taken as the basis. This paper studies and analyzes how to use simple and convenient method to compensate cutting error when the robot has cutting error. Finally, Motoman UP50 robot is used to verify the correctness and feasibility of the error compensation method. In this paper, a method of calculating robot cutting error by neural network instead of robot kinematics prediction is discussed. This method can simplify the calculation of error compensation method and provide support for improving robot cutting accuracy in time and effectively.
【学位授予单位】：兰州理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242.2;TG506

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