机器人曲面零件抛光粗糙度预测模型研究

韩天勇; 陈满意; 朱义虎; 朱自文

doi:10.13433/j.cnki.1003-8728.20220201

机器人曲面零件抛光粗糙度预测模型研究

doi: 10.13433/j.cnki.1003-8728.20220201

武汉理工大学机电工程学院, 武汉 430070

详细信息

作者简介:
韩天勇, 硕士, 1847519915@qq.com

通讯作者:
陈满意, 教授, 硕士生导师, cmy121@163.com

中图分类号: TP242
计量
- 文章访问数: 64
- HTML全文浏览量: 25
- PDF下载量: 19
- 被引次数: 0
出版历程
- 收稿日期: 2021-11-10
- 刊出日期: 2024-01-25

Research on Polishing Roughness Prediction Model of Robot Curved Surface Parts

School of Mechanical and Electrical Engineering, Wuhan University of Technology, Wuhan 430070, China

摘要

摘要: 为提高抛光后曲面零件的表面质量，应建立粗糙度模型选取合理工艺参数，因此本文提出一种基于支持向量机(SVM)的建模方法。通过对机器人抛光过程及抛光工艺参数的研究，将刀具转速、抛光力、行间距、机器人进给速度等作为输入量，粗糙度作为输出量。结合粒子群算法(PSO)与SVM建立曲面零件抛光粗糙度预测模型，并与回归分析方法作对比。试验结果表明: 回归分析方法的预测误差较大，而基于SVM建立的曲面零件抛光粗糙度预测模型与试验结果高度吻合，试验测量值与预测值间的平均相对误差为2.84%。最后，通过全局寻优获得最佳工艺参数组合，该模型为合理选择抛光工艺参数提供了依据。
- 机器人抛光 /
- 粒子群算法 /
- 支持向量机 /
- 粗糙度预测 /
- 抛光工艺参数优化
Abstract: In order to improve the surface quality of polished surface parts, a roughness model should be established to select reasonable process parameters. Therefore, a modeling method based on support vector machine (SVM) is proposed in this paper. Through researching the robot polishing process and polishing process parameters, the tool rotation speed, polishing force, row spacing, robot feed speed, etc. are used as input variables, and roughness is used as output variables. Combined with particle swarm optimization (PSO) and SVM, a prediction model of curved surface parts polishing roughness was established, and compared with the regression analysis method. The experimental results show that the prediction error of the regression analysis method is relatively large, and the prediction model of polishing roughness of curved surface parts established based on SVM is highly consistent with the experimental results. The average relative error between the experimental measured value and the predicted value is 2.84%. The optimal combination of process parameters is obtained by optimization, and the model provides a basis for rational selection of polishing process parameters.
- robot polishing /
- particle swarm optimization /
- support vector machine /
- roughness prediction /
- polishing process parameter optimization

HTML全文

图 1 曲面上的刀触点

Figure 1. Knife contact point on Surface

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图 2 刀具与零件间接触力分析

Figure 2. Analysis of the contact force between the tool and the part

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图 3 刀具与零件接触区域

Figure 3. Contact area between the tool and the part

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图 4 机器人自动抛光系统

Figure 4. Robot automated polishing system

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图 5 插补过程示意图

Figure 5. Interpolation process diagram

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图 6 轨迹规划示意图

Figure 6. Trajectory planning diagram

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图 7 抛光工艺参数与粗糙度关系

Figure 7. Relationship between polishing process parameters and roughness

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图 8 基于PSO的SVM预测模型

Figure 8. Establishment of SVM prediction model based on PSO

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图 9 零件局部抛光效果图

Figure 9. Partial polishing effect of the part

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表 1 测试集试验数据

Table 1. Test set experimental data

序号	刀具转速/(r·min^-1)	抛光力/N	行距/mm	进给速度/(mm·s^-1)	R_a/μm
1	4 000	6	0.5	6.24	0.561
2	5 000	5	0.3	5.46	0.456
3	6 000	4	0.6	4.68	0.614
4	7 000	3	0.4	3.9	0.569
5	8 000	2	0.2	3.12	0.495

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表 2 训练集试验数据

Table 2. Training set experimental data

序号	刀具转速/(r·min^-1)	抛光力/N	行距/mm	进给速度/(mm·s^-1)	R_a/μm
1	4 000	2	0.2	3.12	0.431
2	4 000	3	0.5	3.9	0.478
3	4 000	4	0.3	4.68	0.455
4	4 000	5	0.4	5.46	0.611
5	4 000	6	0.6	6.24	0.634
6	5 000	2	0.3	6.24	0.635
7	5 000	3	0.6	3.12	0.559
8	5 000	4	0.4	3.9	0.388
9	5 000	5	0.2	4.68	0.406
10	5 000	6	0.5	5.46	0.548
11	6 000	2	0.4	5.46	0.616
12	6 000	3	0.2	6.24	0.407
13	6 000	4	0.5	3.12	0.433
14	6 000	5	0.3	3.9	0.459
15	6 000	6	0.6	4.68	0.571
16	7 000	2	0.5	4.68	0.649
17	7 000	3	0.3	5.46	0.562
18	7 000	4	0.6	6.24	0.58
19	7 000	5	0.4	3.12	0.379
20	7 000	6	0.2	3.9	0.402
21	8 000	2	0.6	3.9	0.794
22	8 000	3	0.4	4.68	0.592
23	8 000	4	0.2	5.46	0.441
24	8 000	5	0.5	6.24	0.649
25	8 000	6	0.3	3.12	0.511

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表 3 两种方法的预测精度对比

Table 3. Comparison of prediction accuracy between two methods

试验序号	回归分析		PSO-SVM
试验序号	预测值/μm	相对误差/%	预测值/μm	相对误差/%
1	0.553	1.43	0.528	5.88
2	0.48	5.26	0.462	1.32
3	0.601	2.11	0.621	1.14
4	0.533	6.33	0.554	2.64
5	0.43	13.13	0.511	3.23
平均误差/%		5.65		2.84

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表 4 抛光参数水平

Table 4. Polishing parameter levels

抛光工艺参数	水平
抛光工艺参数	1	2	3	4
刀具转速/(r·min^-1)	5 000	6 000	7 000	8 000
抛光力/N	2	3	4	5
行距/mm	0.2	0.3	0.4	0.5
进给速度/(mm·s^-1)	3.12	3.9	4.68	5.46

下载: 导出CSV

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