Parameter Interpolation of Hybrid Robot for Milling Operation
LI Guangxi1, LIU Haitao1, XU Qingshan2, XIAO Juliang1, QIN Xuda1
1. Key Laboratory of Mechanisms Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin 300350, China;
2. Capital Aerospace Machinery Co., Ltd., Beijing 100076, China
The traditional manufacturing equipment is hard to meet the demand of high-speed, high-precision and high-flexible machining, Research and development of high-performance processing equipment is imperative. In order to achieve the goal of high-speed and high-precision machining, a 5-axis hybrid robot for milling operation is proposed. A brief introduction of the robot and its kinematic analysis are presented. To improve the machining accuracy, the principle of parametric curve interpolation and its application in the hybrid robot are studied. Finally, taking the helical milling of holes as an example, the experiment of milling holes on titanium alloy is carried out. Simulation and experimental results show that the parametric curve interpolation method can effectively limit the feedrate fluctuation and improve the machining accuracy. In the end, it is pointed out that the hybrid robot has the characteristics of high-rigidity, high-speed, high-precision and high-flexibility, and it has broad application prospects in the aviation manufacturing industry.
基金资助:国家重点研发计划项目（2017YFB1301800）。
作者简介: 黎广喜：博士研究生，主要研究方向为铣削加工用混联机器人轨迹规划。
引用本文:
黎广喜，刘海涛，徐青山，肖聚亮，秦旭达. 铣削加工用混联机器人参数曲线插补方法[J]. 航空制造技术, 2018, 61(16): 43-50.
LI Guangxi, LIU Haitao, XU Qingshan, XIAO Juliang, QIN Xuda. Parameter Interpolation of Hybrid Robot for Milling Operation[J]. Aeronautical Manufacturing Technology, 2018, 61(16): 43-50.
2018, 
