|本期目录/Table of Contents|

[1]冯亮友,梁志鹏,席文明*.机器人加工的映射一致性建模及加工实验研究[J].厦门大学学报(自然科学版),2018,57(05):722-728.[doi:10.6043/j.issn.0438-0479.201801010]
 FENG Liangyou,LIANG Zhipeng,XI Wenming*.Mapping Consistency Modeling and Processing Experiment in Robot Processing[J].Journal of Xiamen University(Natural Science),2018,57(05):722-728.[doi:10.6043/j.issn.0438-0479.201801010]
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机器人加工的映射一致性建模及加工实验研究(PDF/HTML)
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《厦门大学学报(自然科学版)》[ISSN:0438-0479/CN:35-1070/N]

卷:
57卷
期数:
2018年05期
页码:
722-728
栏目:
研究论文
出版日期:
2018-09-27

文章信息/Info

Title:
Mapping Consistency Modeling and Processing Experiment in Robot Processing
文章编号:
0438-0479(2018)05-0722-07
作者:
冯亮友梁志鹏席文明*
厦门大学航空航天学院,福建 厦门 361005
Author(s):
FENG LiangyouLIANG ZhipengXI Wenming*
School of Aerospace Engineering,Xiamen University,Xiamen 361005,China
关键词:
计算机辅助制设计/计算机辅助制造(CAD/CAM) 数字化系统 映射一致性 转换矩阵 机器人加工 轨迹偏差
Keywords:
computer aided design/computer aided manufacturing(CAD/CAM) digital system mapping consistency transformation matrix robot processing track deviation
分类号:
TP 242
DOI:
10.6043/j.issn.0438-0479.201801010
文献标志码:
A
摘要:
机器人加工采用计算机辅助制设计/计算机辅助制造(CAD/CAM)数字化系统产生加工轨迹,由于CAM空间与作业空间中的加工对象与机器人之间的转换矩阵不同,造成CAM空间中的轨迹向作业空间映射的偏差.利用机器人作为测量工具,通过测量加工对象上的特征点,获得CAM空间中加工对象模型相对作业空间中加工对象的位姿误差,从而对加工对象模型以及其上的轨迹点进行调整.通过反复测量特征点并运行机器人轨迹,实现加工对象模型位姿的递归调整,建立CAM空间与作业空间的映射一致性.对一复杂外形雕塑进行多侧加工,雕塑粗加工完成后,其双侧加工的不同侧加工部分偏移量为0.72 mm.
Abstract:
Robot machining usesthe computer aided design/computer aided manufacturing(CAD/CAM)digitization system to generate the robot machining trajectory.Due to the different transformation matrixes between the CAM space and the work object in the work space and the robot,the deviation of the trajectory in the CAM space from the work space map is formed.By using the robot as the measuring tool,the position and orientation errors of the processing object in the working space in CAM space can be obtained by measuring feature points on the processing object,to adjust the processing object model and the track point thereon.By repeatedly measuring characteristic points and running the trajectory of the robot, the pose and orientation of the processing object model can be recursively adjusted to realize the mapping consistency between the CAM space and the work space.Multi-sided processing of a complex shape sculpture,measuring the offset of the different processing parts after multi-side processing,after the roughing of the sculpture is completed,the offset of different processing parts of the bilateral processing reaches less than 0.7 mm.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期:2018-01-01录用日期:2018-07-11
基金项目:福建省科技重大专项(2016HZ0001-6)
*通信作者:wmxi@xmu.edu.cn
引文格式:冯亮友,梁志鹏,席文明.机器人加工的映射一致性建模及加工实验研究[J].厦门大学学报(自然科学版),2018,57(5):722-728.
Citation:FENG L Y,LIANG Z P,XI W M.Mapping consistency modeling and processing experiment in robot processing[J].Xiamen Univ Nat Sci,2018,57(5):722-728.(in Chinese)
更新日期/Last Update: 1900-01-01