6-DOF机器人在铣削过程中的误差检测与建模研究

发布时间：2018-04-23 00:23

本文选题：机器人铣削 + 机器视觉　；参考：《山东建筑大学》2017年硕士论文

【摘要】：相对于传统的铣削加工,尤其是复杂工件的加工,普通铣削机床已经不能满足高效又精确的要求。由于机器人工作操作空间范围大、灵活性高、姿态多样等优点,近年来,将工业机器人用于加工领域成为众多专家学者的研究热点。但由于其结构特点造成刚性差的原因,导致机器人加工精度不高,受加工条件影响较大,而目前对机器人加工的研究主要停留在非金属材料的快速成型层面,对机器人高精度铣削加工还处于基础研究阶段。因此,本文提出在机器视觉测量方法的基础上,对机器人铣削加工铝合金进行了误差检测及补偿研究,本文研究主要内容如下:首先,根据机器人结构参数、铣削要求和测量要求,确立了铣削系统的整体结构方案和各关节误差测量方案,对摄像机自动采集的图像进行处理,利用sobel算子进行边缘提取,实现了对各关节转角误差的测量和铣削结果的位置分析。其次,以TA-1400机器人为研究对象,基于D-H方法建立了机器人运动学方程,对机器人连杆及坐标系之间的变换进行描述,并求解了机器人的正逆解,根据动力学参数,求出了机器人的雅克比矩阵。根据经验公式对机器人铣削力进行求解,并通过建立的牛顿-欧拉方程,建立了机器人末端受力与关节受力的映射关系。再次,设计进行了正交实验和实验数据分析,并根据机器人结构参数,以及各关节挠度和臂杆挠度与末端总挠度的传递关系,建立了机器人误差模型,得到了不同铣削用量与机器人铣削末端位置误差的影响关系。最后,以机器人误差模型为依据,对实际铣削中末端误差进行预先计算,并逆向求解出各关节处的补偿量,对铣削加工进行误差补偿实验,并通过实验验证,达到了机器人铣削末端的位置优化。
[Abstract]:Compared with the traditional milling machining, especially the complex workpiece processing, the common milling machine can not meet the requirements of high efficiency and precision. Due to the advantages of large operating space, high flexibility and diversity of attitude, industrial robots have become the focus of many experts and scholars in recent years. However, due to the poor rigidity caused by its structural characteristics, the machining accuracy of the robot is not high, and it is greatly affected by the machining conditions. At present, the research on robot machining mainly stays at the level of rapid prototyping of non-metallic materials. The high precision milling of robot is still in the basic research stage. Therefore, on the basis of machine vision measurement method, the error detection and compensation of robot milling aluminum alloy are studied in this paper. The main contents of this paper are as follows: firstly, according to the structure parameters of robot, Milling requirements and measurement requirements, the overall structure of the milling system and each joint error measurement scheme is established. The image automatically collected by the camera is processed, and the edge is extracted by using sobel operator. The measurement of angle error of each joint and the position analysis of milling result are realized. Secondly, taking the TA-1400 robot as the research object, the kinematics equation of the robot is established based on D-H method, and the transformation between the linkage and coordinate system of the robot is described, and the forward and inverse solutions of the robot are solved according to the dynamic parameters. The Jacobian matrix of the robot is obtained. According to the empirical formula, the milling force of the robot is solved, and the mapping relationship between the end force and the joint force of the robot is established by establishing the Newton-Euler equation. Thirdly, the orthogonal experiment and experimental data analysis are carried out, and the robot error model is established according to the structural parameters of the robot and the transfer relationship between the deflection of each joint and the deflection of the arm rod and the total deflection of the end. The relationship between the different milling amount and the end position error of robot milling is obtained. Finally, according to the robot error model, the end error of actual milling is calculated in advance, and the compensation amount of each joint is solved in reverse, and the error compensation experiment of milling process is carried out, which is verified by experiment. The position optimization of robot milling end is achieved.
【学位授予单位】：山东建筑大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TG54;TP242

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