CAJ | 학술논문

设计了一种曲面柔性制孔机器人末端执行器,并针对该末端执行器提出了一种法向姿态调整的新算法.空间不共面四点可以确定一个与之相切的球面,求出该球面的半径及球心位置,以该球面近似代表制孔点区域的曲面,联结制孔点与该球面球心的矢量即可近似代表制孔点曲面的法矢量.根据这一原理,该算法首先用4个位移传感器测量出曲面上制孔区域内4个点的坐标,并由此计算出制孔位置的法向矢量,然后计算出此法向矢量与末端执行器上电主轴的轴线矢量的误差.根据该误差,进一步计算出末端执行器上2个旋转轴的旋转角度及制孔机器人另外3个直线移动方向的移动距离,从而实现调整主轴在制孔点与曲面垂直的功能.针对2种类型曲面的仿真结果表明,根据该算法可以实现较高的调整精度和效率.
설계료일충곡면유성제공궤기인말단집행기,병침대해말단집행기제출료일충법향자태조정적신산법.공간불공면사점가이학정일개여지상절적구면,구출해구면적반경급구심위치,이해구면근사대표제공점구역적곡면,련결제공점여해구면구심적시량즉가근사대표제공점곡면적법시량.근거저일원리,해산법수선용4개위이전감기측량출곡면상제공구역내4개점적좌표,병유차계산출제공위치적법향시량,연후계산출차법향시량여말단집행기상전주축적축선시량적오차.근거해오차,진일보계산출말단집행기상2개선전축적선전각도급제공궤기인령외3개직선이동방향적이동거리,종이실현조정주축재제공점여곡면수직적공능.침대2충류형곡면적방진결과표명,근거해산법가이실현교고적조정정도화효솔.
An end-effector for a flexible drilling robot is designed,and a novel four-point algorithm of normal attitude regulation for this end-effector is presented.Four non-coplanar points can define a unique sphere tangent to them in spatial geometry,and the center point of the sphere and the radius can be calculated. The shape of a workpiece surface in the machining area is approximately regarded as such a sphere.A vector from the machining point to the center point is thus approximately regarded as a normal vector to the workpiece surface.By this principle,the algorithm first measures four coordinates on the curve in the drilling region using four sensors and calculates the normal vector at the drilling point,then calculates the error between the normal vector and the axis of the spindle.According to this error,the algorithm further figures out the angles of two revolving axes on the endeffector and the displacements of three linear axes on the robot main body,thus it implements the function of adjusting the spindle to be perpendicular to the curve at the drilling point.Simulation results of two kinds of curved surfaces show that accuracy and efficiency can be realized using the proposed algorithrm.