Kinematics Analysis and Machining Path Generation of Mirror Milling System Based on Dual Hybrid Robot
LIU Qi1, 2, GUO Mengna1, 2, SHAN Xianlei3, TIAN Wenjie3, MA Yue1, 2, LI Bin1, 2
1. Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, School of Mechanical Engineering, Tianjin University of Technology, Tianjin 300384, China;
2. National Demonstration Center for Experimental Mechanical and Electrical Engineering Education,School of Mechanical Engineering, Tianjin University of Technology, Tianjin 300384, China;
3. Key Laboratory of Mechanism Theory and Equipment Design, Ministry of Education, School of Mechanical Engineering, Tianjin University, Tianjin 300072, China
With the focus on one kind of mirror milling system consisting of two hybrid robots, the canonical forward and inverse kinematic model of the mirror milling system is developed by the vector method, in which the forward kinematic has the advantage of high computational efficiency and accuracy compared with the solution method using the Newton iterative method. A method for generating mirrored machining path is proposed, which specifies the positional relationship between the reference coordinate systems of two hybrid robots, and calculates the mirrored symmetric tool and support head paths by setting the desired machining wall thickness of the thin-walled structural part. Two methods for executing mirrored machining path are proposed by employing 10-axis linkage and dual 5-axis linkage respectively. The latter has the features of reconfigurability and modularity compared with the former, which supports single-machine operation of the milling or supporting robot, and satisfies the needs of rapid on-site arrangement and efficient collaborative machining of single or multiple machines in a large workspace. In order to verify the correctness and effectiveness of the proposed kinematic model and methods for generating and executing machining paths, experiments of machining a large scale thin-walled structural component are carried out. The experimental results show that the error of the machined wall thickness can be guaranteed within ±0.18 mm.
刘祺,郭梦娜,山显雷,田文杰,马跃,李彬. 基于双混联机器人的镜像铣削系统运动学分析与加工路径生成方法[J]. 航空制造技术, 2024, 67(5): 46-52.
LIU Qi, GUO Mengna, SHAN Xianlei, TIAN Wenjie, MA Yue, LI Bin. Kinematics Analysis and Machining Path Generation of Mirror Milling System Based on Dual Hybrid Robot[J]. Aeronautical Manufacturing Technology, 2024, 67(5): 46-52.