Development Of Machining Control System And Machining Error Analysis For Large Component Robot Milling

With the development of science and technology,there are more and more demands for the processing of large workpieces in many national major projects.Generally,large machine tools are used to process the surface features,but the size and cost of the machine tools cannot expand indefinitely with the increase of the component size.To solve this problem,the use of mobile processing equipment has become one of the highlights in agro-scientific research in the processing of large components,industrial robots with better processing flexibility are also gradually widely used,but due to the poor openness of the industrial robot's control system,it is difficult to carry out personalized control for specific projects,and the weak stiffness and low positioning accuracy will lead to large machining errors.Therefore,this paper designed and developed the milling robot control system,and analyzed the robot machining error.Firstly,according to the actual requirements of the flange holes on the surface of large component,this paper analyzes the function requirements of the robot system.Then the overall control structure and communication scheme based on PLC.mx Automation interface are proposed,the hardware equipment platform of the system network is built,and the software design of the machining control system for the project of large component hole's milling is completed.Secondly,the robot positioning error is modeled and analyzed from the perspective of robot error characteristics.On the one hand,the static error model is established based on the kinematics parameters of the robot,and the error parameters are identified through simulation experiments to verify the correctness and feasibility of the static error model.On the other hand,in order to study the dynamic errors in the robot machining process,this paper analyzed the errors based on the robot dynamics,and simulated the error distribution and variation trend in different positions and poses of the robot,so as to provide the theoretical guidance for the optimization of robot machining accuracy.Finally,based on the Coons surface construction method,this paper predicted the machining errors in the robot workspace when milling holes,and measured the error target points with the laser tracker to get the error boundary curves.Then,the error surface was constructed,and its error distribution function in the direction of X,Y,Z was solved so as to compensate the end error of the robot reasonably to optimize the machining accuracy of the robot.At last,through the actual milling of the flange holes with the system,this paper evaluated the machining performance of the robot machining control system and the machining accuracy after the previous optimized.