摘要
附加外部轴的工业机器人自动钻铆系统是飞机部件自动化装配的典型装备,传统的七轴联动工作模式对外部轴的制造精度和安装精度提出了很高的要求,导致实施成本高、周期长,故提出外部轴分站式工作模式。分析了机器人自动钻铆系统组成和工作流程,讨论了分站式工作模式下机器人任务规划的方法,研究了离散局部闭环伺服控制策略。试验平台测试结果表明,该方法将外部轴的重复定位精度从0.2mm提高到0.02mm。
Robot drilling and riveting system with auxiliary axis is a typical equipment for aircraft automatic assembly. On traditional control mode the auxiliary axis must be manufactured with higher accuracy, and more cost and longer period were needed. In order to overcome these defects, a multi station working mode was proposed. Firstly the system composition and the work flow were ana lyzed. Then the process planning method of the auxiliary axis was put forward, by which the manu facture accuracy of the auxiliary axis was reduced. On the basis of that, a local closed loop control method was researched. Finally, an experimental platform was built, and results show that the repetitive positioning accuracy of the auxiliary axis is improved from O. 2mm to O. 02mm.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2014年第1期23-27,共5页
China Mechanical Engineering
基金
江苏省科技支撑计划资助项目(BE2011175
BE2012171)
关键词
工业机器人
外部轴
分站工作模式
任务规划
伺服控制
ndustrial robot
auxiliary axis
multi-- station working mode
process planning
ser-vo control
