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

Abstract

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

CLC Number:

TP24

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.

Figures/Tables 14

References 24

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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

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

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