Research On Parameter Identification And Kinematics Analysis Method In Robot Machining

The manufacturing industry is the backbone of the national economy,and its degree of development determines whether my country can have an advantage in the global economy in the future.As an important automation equipment in the manufacturing industry,robots have more degrees of freedom than CNC machine tools,and have axis expansion capabilities,and have significant advantages in flexibility,working space,and cost-effectiveness.However,robots lack general off-line programming methods,low processing accuracy,and low rigidity,which limit their application in the field of product processing.Based on this,the research in this article mainly includes:(1)Aiming at the lack of universal offline programming methods for robots,a robot digital programming method with integrated software is proposed.Based on the developed data extraction,trajectory optimization and post-processing program,the process software in the digital programming is connected to construct a robot with integrated software.Offline programming system;explain the principle of the maximum contour method trajectory optimization algorithm,and the related trajectory optimization program developed;introduce the practical application of the robot digital programming method.(2)Aiming at the low processing accuracy of robots,a systematic calibration method is proposed.By measuring the actual configuration of the industrial robot,the zero error is obtained and decoupled from the geometric parameter error;the actual kinematics model is established according to the parameters of the actual configuration identification,and The Newton iteration method is used to obtain the inverse kinematics solution;the simulation space is built according to the actual parameters;the industrial robot is used as a measurement tool to identify the parameters in the work space,establish the mapping consistency between the simulation space and the work space,and complete the actual TCP placement;Experiments verify the effectiveness of the method and the effectiveness of the simulation space.(3)Aiming at the slow solving speed of actual robot kinematics,the actual robot inverse kinematics analytical method is proposed,the analytical formula of robot position joint axis is obtained,the numerical solution of attitude joint axis is obtained by combining with Newton iteration method,and the SVD decomposition optimization iterative algorithm is adopted.So as to speed up the calculation speed;introduce the robot compound processing method,and propose a fixed axis analysis method for the robot movement in the compound processing to speed up the calculation speed.The validity of the analytical method is verified based on the simulation space,and the experimental results of the robot integrated turntable are given.(4)Use the consistency of robots and equipment in the work space and the simulation space to construct an application mode of Internet+robot processing equipment;use the Internet+robot product processing mode case to carry out the researched theory and technology in the way of engineering application Practical application verifies the correctness and effectiveness of the theories and techniques used in this article.