一种轻量化五轴全并联加工机器人研发与应用

doi:10.11959/j.issn.2096-3750.2021.00237

物联网学报 ›› 2021, Vol. 5 ›› Issue (3): 10-20.doi: 10.11959/j.issn.2096-3750.2021.00237

• 专题：工业互联网与智能制造 • 上一篇下一篇

一种轻量化五轴全并联加工机器人研发与应用

解增辉¹, 梅斌¹, 毕伟尧¹, 谢福贵¹^,², 刘辛军¹^,²

¹ 清华大学机械工程系，北京100084
² 清华大学精密超精密制造装备及控制北京市重点实验室，北京100084

修回日期:2021-05-07 出版日期:2021-09-30 发布日期:2021-09-01
作者简介:解增辉（1993- ），男，清华大学在站博士后，主要研究方向为并联机器人、轨迹规划、动力学控制等
梅斌（1994- ），男，清华大学博士生，主要研究方向为并联机器人、机器人精度保证等
毕伟尧（1992- ），男，清华大学博士生，主要研究方向为并联机器人、参数优化设计等
谢福贵（1982- ），男，博士，清华大学副教授，主要研究方向为机构学与机器人、先进制造技术及装备等
刘辛军（1971- ），男，博士，清华大学教授，主要研究方向为机构学与机器人、先进与智能制造装备等
基金资助:
国家自然科学基金资助项目(51922057);国家自然科学基金资助项目(91748205);清华大学水木学者计划(2021SM021)

Development and application of a lightweight five-axis parallel machining robot

Zenghui XIE¹, Bin MEI¹, Weiyao BI¹, Fugui XIE¹^,², Xin-Jun LIU¹^,²

¹ Department of Mechanical Engineering (DME), Tsinghua University, Beijing 100084, China
² Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipments and Control, Tsinghua University, Beijing 100084, China

Revised:2021-05-07 Online:2021-09-30 Published:2021-09-01
Supported by:
The National Natural Science Foundation of China(51922057);The National Natural Science Foundation of China(91748205);Shuimu Tsinghua Scholar Program(2021SM021)

摘要/Abstract

摘要：

航空结构件、涡轮叶片等具有空间自由曲面特征的复杂零件是国防、航空航天、能源等领域装备的核心零件，通常具有材料去除率大、尺寸精度和表面质量要求高的特点。传统的串联式五轴加工中心在加工此类零件过程中会面临刀具过极点自动回转和驱动轴动态响应速率不匹配两个问题。针对上述问题，从加工装备构型角度出发，充分利用并联机器人在结构紧凑性、刚度、运动灵活性、动态响应速率等方面的优势，开发了兼具姿态耦合运动和驱动轴动态响应速率匹配特点的轻量化五轴全并联加工机器人，并开展了其优化设计、运动控制、精度保证等关键技术研究，实现了复杂曲面零件的高效高质量加工，最后在航空工业成都飞机工业（集团）有限责任公司进行应用验证。

关键词: 五轴并联加工机器人, 轻量化, 姿态耦合运动, 应用验证

Abstract:

In the fields of national defense, aerospace, and energy, there exist plenty of complex surface core parts, for example, the aircraft structural components and turbine blades.These parts usually have the machining requirements of large material removal rate, high dimensional accuracy and high surface quality.The traditional five-axis serial machine centers face two problems in the machining process: (1) the tool will automatically rotate when it passes through the pole posture; (2)the driving axes’dynamic response does not match.It was tried to solve these problems from the view of machining equipments’ configuration.By making fully use of the advantages of parallel robots in compact structure, high stiffness, kinematic flexibility and dynamic response, a lightweight five-axis parallel machining robot with attitude coupling motion and uniform driving axes’ dynamic response was developed.The optimal design, motion control, and precision guarantee were carried out to realize the high-efficiency and high-quality machining of complex curved parts.Finally, the application verification in AVIC (Aviation Industry Corporation of China) Chengdu Aircraft Industrial (Group) Co., Ltd.was conducted.

Key words: five-axis parallel machining robot, lightweight, attitude coupling motion, application verification

中图分类号:

TP24

解增辉, 梅斌, 毕伟尧, 谢福贵, 刘辛军. 一种轻量化五轴全并联加工机器人研发与应用[J]. 物联网学报, 2021, 5(3): 10-20.

Zenghui XIE, Bin MEI, Weiyao BI, Fugui XIE, Xin-Jun LIU. Development and application of a lightweight five-axis parallel machining robot[J]. Chinese Journal on Internet of Things, 2021, 5(3): 10-20.

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项目	性能指标
外形尺寸	直径2.5 m；高2.7 m
自由度	并联加工模块5自由度转台1自由度
移动工作空间	600 mm×600 mm×400 mm
转动工作空间	A向转角输出能力大于110°，A/B联动范围达到30°
移动重复定位精度	0.012 mm
转动重复定位精度	0.003°
主轴功率	30 kW
并联模块重量	800 kg

一种轻量化五轴全并联加工机器人研发与应用

Development and application of a lightweight five-axis parallel machining robot

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