面向铣削任务的工业机器人刚度位姿优化

doi:10.13973/j.cnki.robot.200042

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陈钦韬, 殷参, 张加波, 乐毅, 周莹皓, 文科, 杨继之, 白效鹏. 面向铣削任务的工业机器人刚度位姿优化[J]. 机器人, 2021, 43(1): 90-100.DOI: 10.13973/j.cnki.robot.200042. CHEN Qintao, YIN Shen, ZHANG Jiabo, YUE Yi, ZHOU Yinghao, WEN Ke, YANG Jizhi, BAI Xiaopeng. Pose Optimization of Industrial Robots Based on Stiffness for Milling Tasks. ROBOT, 2021, 43(1): 90-100. DOI: 10.13973/j.cnki.robot.200042.

摘要为提高机器人刚度性能，减小铣削加工误差，对搭载铣削执行器的6自由度机器人进行刚度优化．首先，运用虚功原理建立机器人刚度映射模型；其次，设计辨识实验获取关节刚度；再次，以铣削力椭圆平面的各向同性度为优化指标，运用遗传算法对机器人优化位姿进行求解；最后，对比分析机器人位姿优化前后的整体刚度，并进行机器人铣削试验验证位姿优化的有效性，铣削平面度可提升45%．该优化方法可指导串联型工业机器人对大型航天器舱体的铣削加工任务，提高加工质量．

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	杨继之
	白效鹏

关键词 ：铣削机器人, 刚度分析, 柔度椭球, 位姿优化, 遗传算法

Abstract：In order to improve the stiffness performance of the robot and reduce the milling processing errors, the stiffness of a 6 DoF (degree of freedom) robot equipped with a milling actuator is optimized. Firstly, a robot stiffness mapping model is established using the virtual work principle. Secondly, the joint stiffness is obtained by the designed identification experiments. Then, the optimized pose of the robot is solved using the genetic algorithm, taking the isotropy of the milling force elliptic plane as the optimization index. Finally, the overall stiffness of the robot before and after the pose optimization are compared and analyzed. And a robot milling test is performed to verify the effectiveness of the pose optimization. Consequently, the milling flatness can be improved by 45%. The optimization method can guide the milling processing tasks of the serial industrial robot on the large spacecraft cabin, and improve the processing quality.

Key words： milling robot stiffness analysis compliance ellipsoid pose optimization genetic algorithm

收稿日期: 2020-02-17 录用日期: 2020-08-27

TP242.2

基金资助:国家重点研发计划（2019YFB1310100）；国家自然科学基金（52075533， 62003346）；装备预研航天科技联合基金（6141B061401）．

通讯作者: 张加波,airforce81@163.com E-mail: airforce81@163.com

作者简介: 陈钦韬(1994-),男,硕士,助理工程师.研究领域:数字化加工,智能机器人制造.
殷参(1962-),男,博士,研究员.研究领域:航天器结构与机构.
张加波(1981-),男,博士,研究员.研究领域:航空宇航制造工程,航天器结构与机构.

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https://robot.sia.cn/CN/10.13973/j.cnki.robot.200042 或 https://robot.sia.cn/CN/Y2021/V43/I1/90

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