摘要
在工业机器人传统恒力抛光方法中,存在随加工部位曲率增大和单位面积内接触面应力增加引起过磨削,针对这个问题,提出面向曲面的工业机器人恒应力加工方法。该方法首次结合赫兹接触理论和阻抗控制,通过赫兹接触理论推导出跟踪不同曲率表面恒定应力所需的变期望下压力方法,并在普通阻抗难以跟踪曲面表面接触力的问题上引入自适应变阻抗控制,通过自适应变阻抗控制跟踪曲面工件表面的变期望力以实现加工过程恒应力的效果。实验结果表明:传统恒力加工方法在不同曲率表面生成不同应力,而采用的恒应力加工方法可对接触曲面生成恒定应力,且应力最大相对误差为15.5%,应力平均相对误差为2.3%,表明该方法在曲面加工方面具有一定的工程应用价值。
Traditional constant force polishing method of industrial robots,has the problem that the contact surface stress in unit area increases with the increase of curvature of the machined part and is prone to cause overgrinding.Aiming at this problem,a constant stress machining method for industrial robots oriented to curved surfaces is proposed.This method combines Hertzian contact theory and impedance control for the first time,derives the variable desired downforce method required to track the constant stress on surfaces with different curvatures through Hertzian contact theory,and introduces the adaptive variable impedance control in the problem that the ordinary impedance is difficult to track the contact force on the surface of the curved surface,and tracks the variable desired force on the surface of the curved workpiece through the adaptive variable impedance control in order to achieve the effect of constant stress in the machining process.The experimental results show that the traditional constant force machining method generates different stresses on surfaces with different curvatures,while the constant stress machining method can generate constant stresses on the contact surfaces,and the maximum relative error of stress is 15.5%,and the average relative error of stress is 2.3%,which indicates that the method has certain engineering application value in surfaces machining.
作者
黄进
杨进兴
谢银辉
黄伟龙
李俊
HUANG Jin;YANG Jinxing;XIE Yinhui;HUANG Weilong;LI Jun(School of Electrical Engineering and Automation,Fuzhou University,Fuzhou 350108,China;Quanzhou Institute of Equipment Manufacturing,Haixi Institutes,Chinese Academy of Sciences,Quanzhou 362216,China;School of Intelligent Manufacturing Engineering,Liming Vocational University,Quanzhou 362007,China)
出处
《传感器与微系统》
北大核心
2025年第7期37-40,45,共5页
Transducer and Microsystem Technologies
关键词
工业机器人
过磨削
恒应力加工
变期望力
自适应变阻抗
industrial robots
overgrinding
constant stress machining
variable desired force
adaptive variable impedance
作者简介
黄进(1998-),男,硕士,研究方向为人机交互、机器人技术及应用;通讯作者:李俊(1979-),男,教授,主要研究领域为自适应控制、人机交互、机器人控制技术等。
