摘要
将1台载重能力为3 kN的重载工业机器人改造为搅拌摩擦焊机器人,并对其结构性能进行分析,发现该机器人结构强度和振动特性虽满足使用要求,但其刚度在某些工况下还不符合要求,导致搅拌摩擦焊机器人定位精度低、加工精度不理想。针对这种情况,提出并设计了一种基于室内定位技术的机器人闭环控制系统,对该系统的组成及原理进行了分析和研究,为下步重载搅拌摩擦焊工业机器人系统的实现提供解决方案。
A heavy-duty industrial robot machine with a load of 3 kN was transformed into a friction stir welding robot,and its structural performance was analyzed.It is found that the structural strength and vibration characteristics of the robot meet the requirements of working conditions,but its stiffness can not meet the requirements under some working conditions.So the friction stir welding robot has low positioning accuracy and poor machining accuracy.For this case,a closedloop robot control system based on indoor positioning technology was proposed and designed.The composition and principle of the system were analyzed and studied,which provides the solution for the realization of the next heavy-duty friction stir welding industrial robot system.
作者
万强
石从继
吴修玉
WAN Qiang;SHI Congji;WU Xiuyu(Institute of Mechatronics and Automation,Wuchang Shouyi University,Wuhan 430064,China)
出处
《机械与电子》
2020年第8期71-75,80,共6页
Machinery & Electronics
基金
2017年湖北省教育厅科学技术研究项目(B2017362)。
关键词
搅拌摩擦焊
重载机器人
室内定位
闭环控制
friction stir welding
heavy load robot
indoor location
closed-loop control
