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机器人气囊抛光位置误差建模及补偿

毛记祥 倪磊 向北平 舒龙飞

毛记祥,倪磊,向北平, 等. 机器人气囊抛光位置误差建模及补偿[J]. 机械科学与技术,2023,42(5):724-729 doi: 10.13433/j.cnki.1003-8728.20220023
引用本文: 毛记祥,倪磊,向北平, 等. 机器人气囊抛光位置误差建模及补偿[J]. 机械科学与技术,2023,42(5):724-729 doi: 10.13433/j.cnki.1003-8728.20220023
MAO Jixiang, NI Lei, XIANG Beiping, SHU Longfei. Position Error Modeling and Compensation for Robot Bonnet Polishing[J]. Mechanical Science and Technology for Aerospace Engineering, 2023, 42(5): 724-729. doi: 10.13433/j.cnki.1003-8728.20220023
Citation: MAO Jixiang, NI Lei, XIANG Beiping, SHU Longfei. Position Error Modeling and Compensation for Robot Bonnet Polishing[J]. Mechanical Science and Technology for Aerospace Engineering, 2023, 42(5): 724-729. doi: 10.13433/j.cnki.1003-8728.20220023

机器人气囊抛光位置误差建模及补偿

doi: 10.13433/j.cnki.1003-8728.20220023
基金项目: 四川省教育厅项目基金项目(17zb0451)
详细信息
    作者简介:

    毛记祥(1998−),硕士研究生,研究方向为光学超精密加工,2586480184@qq.com

    通讯作者:

    倪磊,副教授,硕士生导师,2476910284@qq.com

  • 中图分类号: TH161

Position Error Modeling and Compensation for Robot Bonnet Polishing

  • 摘要: 针对机器人气囊抛光中抛光压力波动的问题,分析影响抛光压力稳定的因素,提出误差补偿法来降低抛光压力波动对加工面形的影响。首先,分析气囊抛光的运动过程,根据Preston方程建立材料去除函数模型,使用MATLAB对去除函数进行仿真分析。然后针对由机器人末端位置波动引入的系统误差,提出网格式误差补偿法,根据误差数据模型对加工点位进行即时修正,从而降低由机器人引入的抛光压力波动误差。实验数据表明:补偿后机器人末端位置XY方向误差波动值分别下降了86.2%,67.6%,机器人末端位置精度明显提高,最终加工面形精度的RMS为0.118λ。证明了该方法能够有效的减小抛光压力的波动,改善加工面形质量。
  • 图  1  气囊抛光的运动过程

    图  2  去除函数归一化仿真结果

    图  3  机器人末端位置误差波动图

    图  4  X方向补偿前后误差对比

    图  5  Y方向补偿前后误差对比

    图  6  气囊抛光实验过程

    图  7  未误差补偿加工面形图

    图  8  补偿后面形抛光结果

    表  1  气囊抛光实验参数表

    参数数值
    磨头转速/(r·min−1 300
    充气压力/MPa 0.1
    进动角/(°) 15
    抛光压力/N 10
    抛光液种类 氧化铈
    抛光液浓度/% 10
    栅格间距h/mm 0.5
    下载: 导出CSV
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出版历程
  • 收稿日期:  2021-05-07
  • 网络出版日期:  2023-05-29
  • 刊出日期:  2023-05-25

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