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    九游体育-哈工大机器人研究所教授赵立军:面向复杂曲面作业的工业机器人系统

    信息来源于:互联网 发布于:2025-02-12

    inkMacSystemFont, "Helvetica Neue", "PingFang SC", "Hiragino Sans GB", "Microsoft YaHei UI", "Microsoft YaHei", Arial, sans-serif; letter-spacing: 0.544px; text-align: justify;">以下内容来源于哈工大机器人研究所教授、长三角哈特机器人研究院院长赵立军inkMacSystemFont, "Helvetica Neue", "PingFang SC", "Hiragino Sans GB", "Microsoft YaHei UI", "Microsoft YaHei", Arial, sans-serif; letter-spacing: 0.544px; text-align: justify;">在第十届恰佩克活动全国高校机器人产教融合发展暨全国高校机器人学院院长论坛上的演讲「面向复杂曲面作业的工业机器人系统」inkMacSystemFont, "Helvetica Neue", "PingFang SC", "Hiragino Sans GB", "Microsoft YaHei UI", "Microsoft YaHei", Arial, sans-serif; letter-spacing: 0.544px; text-align: justify;">,「中国机器人网」整理删改:

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    portant; overflow-wrap: break-word !important; font-size: 16px; color: rgb(217, 33, 66);">portant; overflow-wrap: break-word !important;">一、portant; overflow-wrap: break-word !important;">研究背景和意义portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">

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    portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">2022年中国汽车保有量3.19亿辆,同比增长5.63%,市场规模1118.59亿元。portant; overflow-wrap: break-word !important;">我国是世界汽车轮毂生产大国,每年产将近7~8亿。

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    portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">轮毂是汽车的重要零部件,直接关系到汽车的整体性能及外观。为减轻重量,提高制造精度,减小惯性阻力,减少油耗,改善外观,大多采用合金材质轮毂,如铝、镁合金和钢等。

    portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

    portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">汽车轮毂最终的外观质量“七分靠磨抛,三分靠电镀”,表面磨抛是汽车轮毂生产过程中的一项重要工艺。

    portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

    portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">轮毂的结构复杂,品种、型式多样portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">,portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">连续接触式轮毂抛光自动化难度大portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">。portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">目前仍主要依赖于人工抛光:

    portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 14px; color: rgb(136, 136, 136);">工作环境差,危险性高;

    portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 14px; color: rgb(136, 136, 136);">抛光精度低,质量不稳定;

    portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 14px; color: rgb(136, 136, 136);">劳动强度高,抛光效率低;

    portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 14px; color: rgb(136, 136, 136);">生产成本高。portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">

    portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

    portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">机器人化轮毂抛光portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">具有如下优点:

    portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 14px; color: rgb(136, 136, 136);">自动化作业、生产效率高;

    portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 14px; color: rgb(136, 136, 136);">抛光精度高、质量稳定性好;

    portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 14px; color: rgb(136, 136, 136);">灵活度高、适应性好;

    portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 14px; color: rgb(136, 136, 136);">生产成本低。portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">

    portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

    portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">影响国内汽车轮毂磨抛机器人系统推广应用的主要问题:portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">

    portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

    portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">1.portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">机器人磨抛工艺研究不足:portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">缺乏系统性的研究方法和有效的材料去除率模型,磨抛工艺参数主要凭经验选择;

    portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

    portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">2.portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">机器人的绝对定位精度偏低:portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">传统的几何参数标定方法难于有效提高机器人的绝对定位精度,影响了离线编程方法的应用;

    portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

    portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">3.portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">主动力控制技术不完善:portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">工业机器人多不具备力控功能,现有气动力控末端执行器动态响应慢、灵活度差,难于保证轮毂磨抛质量一致性;

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    portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">4.portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">缺少轮毂磨抛专用离线编程系统与工艺软件包:portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">主要依赖商portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 15px; letter-spacing: 0.034em;">用portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 15px; letter-spacing: 0.034em;">CAD/CAM软件,人工干预多,编程效率低。

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    portant; overflow-wrap: break-word !important; font-size: 16px; color: rgb(217, 33, 66);">portant; overflow-wrap: break-word !important;">二、portant; overflow-wrap: break-word !important;">关键问题与技术portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">

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    portant; overflow-wrap: break-word !important; font-size: 16px; color: rgb(217, 33, 66);">portant; overflow-wrap: break-word !important;">三、研究成果及创新portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">

    portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

    portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">成果1:手腕偏置磨抛机器人设计与控制portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">

    portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

    portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">成果1.1portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">手腕偏置磨抛机器人设计

    portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">研究目portant; overflow-wrap: break-word !important;">标:设计满足轮毂磨抛需求的腕部(第五轴)360°工业机器人。

    portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

    portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">解决方案:设计了portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">侧端偏置手腕结构portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">,优化5、6轴系传动与支撑;portant; overflow-wrap: break-word !important; font-size: 15px; letter-spacing: 0.034em; font-family: 微软雅黑;">基于portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">重心集中设计portant; overflow-wrap: break-word !important; font-size: 15px; letter-spacing: 0.034em; font-family: 微软雅黑;">思想,所有关节与杆件结构动态优化;portant; overflow-wrap: break-word !important; font-size: 15px; letter-spacing: 0.034em; font-family: 微软雅黑;">基于portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">刚柔耦合模型portant; overflow-wrap: break-word !important; font-size: 15px; letter-spacing: 0.034em; font-family: 微软雅黑;">进行机器人机构动态优化,完成了机器人机构设计。

    portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

    portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">成果1.2 手腕偏置磨抛机器人逆运动学建模portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">

    portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">研究问portant; overflow-wrap: break-word !important;">题:磨抛机器人第五轴存在偏置,逆解解析解难以求取。

    portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

    portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">解决方案:基于手腕侧端偏置结构特点,构建了新型的非线性方程组,减少计算量;

    portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">提出了由粗到精的两步法求解手腕偏置机器人逆解,收敛速度。

    portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

    portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">成果1.3 磨抛机器人末端姿态优化和关节轨迹规划portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">

    portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

    portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">研究目标:如何使机器人轮毂磨抛加工时保持最佳工作姿态?

    portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

    portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">解决方案:建立了基于评价指标的优选工作空间机制,优选出机器人高灵活性运动空间;portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 15px; letter-spacing: 0.034em;">基于机器人末端位置和姿态变化阈值,提出了改进的portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 15px; letter-spacing: 0.034em;">DP算法,优选加工路径点。

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    portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">成果2:机器人精度标定与误差补偿portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">

    portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

    portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">研究目标:通过机器人精度标定与误差补偿,提高机器人绝对定位精度。

    portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

    portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">解决方案:提出局部指数积公式建立机器人几何误差模型,采用最小二乘法对参数进行辨识,并对误差进行补偿;提出高斯学习方法实现机器人非几何误差模型建立与误差补偿。

    portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

    portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">成果3:力控末端执行器与机器人力位混合控制portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">

    portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

    portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">成果3.1 单自由度力控末端执行器设计portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">

    portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

    portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">研究目标:研发一种新型精度高、响应快、柔性好、质量轻的单自由度气电混合式力控末端执行器,以实现高精度接触力控制,满足工业机器人抛光、打磨、去毛刺等连续接触式作业。

    portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">解portant; overflow-wrap: break-word !important; letter-spacing: 0.034em; font-size: 15px; font-family: 微软雅黑;">决方案:气电混合并联驱动,既提高力控精度,有效缓和冲击与振动,提高力控稳定性;portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 15px; letter-spacing: 0.034em;">电动部分采用音圈电机直驱,动态响应快,力控精度高portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 15px; letter-spacing: 0.034em;">;portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 15px; letter-spacing: 0.034em;">增加拉伸弹簧,可有效补偿重力,又提高了系统刚度和动态响应。

    portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 15px; letter-spacing: 0.034em;">portant; overflow-wrap: break-word !important;" />

    portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">成果3.2 基于双力传感器的单自由度力控末端执行器力控方法portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">

    portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

    portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">研究问题:基于动力学模型的控制方法,虽然可以提高响应速度和稳态精度,由于物理建模与数据建模过程存在模型误差和参数误差,力控性能仍受限。

    portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

    portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">研究方法:基于双力传感器宏微系统解耦控制方法。

    portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

    portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">成果3.3 2R1T力控末端执行器设计portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">

    portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

    portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">研究目标:研制具有两转动一平动(2R1T)自由度的力控末端执行器,用于复杂曲面磨抛作业。具备简洁的运动学关系、低运动质量。

    portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

    portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">解决方案:采用结构紧凑、刚度高的3PPS并联机构,基于“零扭转”特性和改进的姿态描述方法推导了解析且线性的位移正解,便于机构设计与控制;portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 15px; letter-spacing: 0.034em;">柔性铰链(导轨)刚柔混合设计,低运动质量、无摩擦portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 15px; letter-spacing: 0.034em;">;portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 15px; letter-spacing: 0.034em;">主动关节采用音圈电机直驱,高动态响应portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 15px; letter-spacing: 0.034em;">。

    portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 15px; letter-spacing: 0.034em;">portant; overflow-wrap: break-word !important;" />

    portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">成果3.4 基于接触点位姿补偿的2R1T末端执行器力控方法portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">

    portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

    portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">研究问题:传统机器人应用通常将末端执行器视为刚体,难以补偿2R1T力控末端执行器倾角变化导致的接触点偏移,降低了宏微机器人磨抛系统的力控精度。

    portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">解决方案:引入接触点补偿模型的混合姿态/力控制算法。

    portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

    portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">成果4:轮毂磨抛工艺建模与软件包开发portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">

    portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

    portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">4.1 面向端磨工艺的法向接触力建模

    portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

    portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">研究问题:磨具与工件存在接触倾角,如何预测法向接触力随接触倾角和工件曲率的变化。

    portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

    portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">解决方案:通过微分几何分析,得到以接触倾角和工件曲率半径为变量的接触深度分布函数;portant; overflow-wrap: break-word !important;">基于非线性应力-应变模型,进一步得到幂函数形式表达的法向接触力半解析公式。

    portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

    portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">4.2 表面粗糙度分析与磨抛工艺参数优化portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">

    portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

    portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">研究目portant; overflow-wrap: break-word !important;">标:建立以表面粗糙度为评价指标的分析模型,并对工艺参数进行优化。

    portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">解决方案:提出了以表面粗糙度为评价指标的工艺参数分析模型,更适合机器人的抛光作业;基于多因素正交实验方法,确定最主要影响因素及各工艺参数的最优值。

    portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

    portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">4.3 机器人离线编程系统portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">

    portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

    portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">研究问题:汽车轮毂种类繁多、形状复杂,导致机器人编程工作量大、效率低

    portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

    portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">解决方案:由工件三维数模直接生成机器人程序,大幅度提高了复杂空间曲面的离线编程效率;提出了工具轨迹优化方法,工件曲面的UV线-轨迹/轮廓偏差-优化,加工平顺性和加工质量;实现了机器人离线运动仿真,仿真后的数据可直接导出为机器人程序。

    portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

    portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">4.4 轮毂磨抛工艺软件包portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">

    portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">研究目portant; overflow-wrap: break-word !important;">标:研发面向轮毂机器人磨抛的工艺数据库与工艺软件包。

    portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">解决方案:建立了磨抛工具库与工艺数据库,定义了不同型号,不同区域的抛光工具及工艺参数;开发了轮毂磨抛专用工艺软件包,推荐优化工艺参数与工具,提高磨抛效率与质量

    portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">成果5:轮毂智能磨抛系统集成与示范应用portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">

    portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">5.1 轮毂智能磨抛系统集成

    portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">5.2 轮毂智能磨抛系统示范应用

    portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

    portant; overflow-wrap: break-word !important; font-size: 16px; color: rgb(217, 33, 66);">portant; overflow-wrap: break-word !important;">四、结论与应用portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">

    portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

    portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">针对轮毂磨抛需求,研发了6款力控末端执行器、1款磨抛机器人(腕端运动范围360°)和2个应用示范单元(小尺寸简单轮毂磨抛和大尺寸复杂轮毂磨抛)。

    portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

    portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">结论portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">

    portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">1.轮毂磨抛建模与工艺参数优化:portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">提出了磨抛过程的半解析接触力模型;提出了轮毂表面粗糙度模型的工艺参数优化方法。

    portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

    portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">2.机器人系统研制与参数标定:portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">研发了腕端360°转动的磨抛机器人系统,提出了两步法逆解求取方法;提出了机器人几何与非几何误差参数辨识与误差补偿方法。

    portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

    portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">3.力控末端执行器与机器人力位混合控制portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">:研发了6款力控末端执行器,满足portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 15px; letter-spacing: 0.034em;">不同磨抛应用需求;portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 15px; letter-spacing: 0.034em;">提出了基于双力矩传感器和接触点位姿补偿的机器人力控方法。

    portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 15px; letter-spacing: 0.034em;">portant; overflow-wrap: break-word !important;" />

    portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">4.离线编程系统与工艺软件包开发portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">:开发了轮毂磨抛机器人离线编程系统,开发了轮毂磨抛工艺软件包。

    portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

    portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">5.产教融合:portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">场景认知-主动学习;目标导向-引领创新创业;学科交叉,科研促进教学。

    portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

    portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">复杂表面检测与修型机器人系统portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">

    portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

    portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">面向复杂弹性表面处理需求,开发了集智能检测与机器人修补工艺结合的重载复合机器人系统。

    portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

    portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">应用与产业化——芜湖英视迈智能科技有限公司portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">

    portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

    portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">轮毂加工去毛刺工艺,目前以人工为主,粉尘和劳动强度是最大挑战,团队已完成轮毂自动去毛刺机器人开发工作,形成了轮毂自动去毛刺工作站。借助轮毂2D图纸/3D模型自动规划窗口去毛刺路径,通过高精度2D相机识别与定位,实现轮毂自动化混线去毛刺加工。

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