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機(ji)器人系統
機器人光纖激光切割機誤差補償
2023-10-14

機(ji)(ji)(ji)器(qi)人光纖激(ji)(ji)光切(qie)割(ge)機(ji)(ji)(ji)是(shi)一種(zhong)精度規定較高的(de)(de)(de)激(ji)(ji)光加工體例,普通(tong)情(qing)況下,機(ji)(ji)(ji)器(qi)人激(ji)(ji)光切(qie)割(ge)偏(pian)(pian)(pian)(pian)偏(pian)(pian)(pian)(pian)差(cha)(cha)分為多(duo)(duo)(duo)(duo)少(shao)(shao)偏(pian)(pian)(pian)(pian)偏(pian)(pian)(pian)(pian)差(cha)(cha)和(he)非多(duo)(duo)(duo)(duo)少(shao)(shao)偏(pian)(pian)(pian)(pian)偏(pian)(pian)(pian)(pian)差(cha)(cha)。此中多(duo)(duo)(duo)(duo)少(shao)(shao)偏(pian)(pian)(pian)(pian)偏(pian)(pian)(pian)(pian)差(cha)(cha)包孕(yun)桿件參數偏(pian)(pian)(pian)(pian)偏(pian)(pian)(pian)(pian)差(cha)(cha),理論參考坐標系(xi)取預(yu)期基準坐標系(xi)的(de)(de)(de)偏(pian)(pian)(pian)(pian)偏(pian)(pian)(pian)(pian)差(cha)(cha)、樞紐軸線的(de)(de)(de)沒有平行度、零位偏(pian)(pian)(pian)(pian)偏(pian)(pian)(pian)(pian)差(cha)(cha)等;非多(duo)(duo)(duo)(duo)少(shao)(shao)因素(su)包孕(yun)樞紐和(he)連桿的(de)(de)(de)彈性形變(bian)、齒輪間隙、齒輪傳(chuan)動(dong)偏(pian)(pian)(pian)(pian)偏(pian)(pian)(pian)(pian)差(cha)(cha)、熱形變(bian)等。假(jia)如對(dui)機(ji)(ji)(ji)器(qi)人激(ji)(ji)光切(qie)割(ge)機(ji)(ji)(ji)的(de)(de)(de)多(duo)(duo)(duo)(duo)少(shao)(shao)偏(pian)(pian)(pian)(pian)偏(pian)(pian)(pian)(pian)差(cha)(cha)舉行了(le)很好的(de)(de)(de)賠償(chang),絕(jue)對(dui)精度就能夠大大進步,只有關于(yu)特(te)定的(de)(de)(de)須要進步絕(jue)對(dui)精度的(de)(de)(de)應用時才思索舉行非多(duo)(duo)(duo)(duo)少(shao)(shao)偏(pian)(pian)(pian)(pian)偏(pian)(pian)(pian)(pian)差(cha)(cha)的(de)(de)(de)賠償(chang)。

要進步機(ji)器(qi)人(ren)激(ji)光(guang)切割(ge)機(ji)的(de)(de)絕(jue)對精(jing)度,能(neng)(neng)夠由(you)兩方面入手(shou),一(yi)是(shi)采納(na)幸免(mian)偏差(cha)的(de)(de)辦法(fa),即針對發(fa)生機(ji)器(qi)人(ren)偏差(cha)的(de)(de)各類偏差(cha)源,采納(na)高精(jing)密加工手(shou)腕加工機(ji)器(qi)人(ren)各零部(bu)件,聯合高精(jing)密裝配技能(neng)(neng)舉行(xing)裝配。二是(shi)采納(na)綜合抵償技能(neng)(neng),即采納(na)當代的(de)(de)丈量手(shou)腕,對所測得的(de)(de)數據舉行(xing)闡發(fa),輔(fu)以(yi)(yi)恰當的(de)(de)抵償算法(fa),對機(ji)器(qi)人(ren)激(ji)光(guang)切割(ge)機(ji)的(de)(de)偏差(cha)舉行(xing)抵償以(yi)(yi)到達(da)減(jian)小偏差(cha)的(de)(de)目標。

機器人光纖激光切割機誤差補償

因(yin)(yin)為機器(qi)(qi)(qi)(qi)(qi)(qi)人(ren)(ren)(ren)(ren)光纖激光切割機的(de)(de)(de)(de)精度規定(ding)很高,須要采(cai)取(qu)(qu)(qu)多種方式(shi)開展偏差(cha)綜合(he)賠(pei)償(chang)。首(shou)先采(cai)取(qu)(qu)(qu)防(fang)止偏差(cha)的(de)(de)(de)(de)方式(shi)。正(zheng)在機器(qi)(qi)(qi)(qi)(qi)(qi)人(ren)(ren)(ren)(ren)的(de)(de)(de)(de)構造(zao)設計中,采(cai)取(qu)(qu)(qu)公(gong)道的(de)(de)(de)(de)構造(zao),使機器(qi)(qi)(qi)(qi)(qi)(qi)人(ren)(ren)(ren)(ren)的(de)(de)(de)(de)變形(xing)盡量(liang)小。正(zheng)在加(jia)工(gong)制作過程中,關(guan)頭的(de)(de)(de)(de)部件(jian)采(cai)取(qu)(qu)(qu)高精度的(de)(de)(de)(de)加(jia)工(gong)技能(neng)和裝配(pei)工(gong)藝。然則該方式(shi)對機器(qi)(qi)(qi)(qi)(qi)(qi)人(ren)(ren)(ren)(ren)經由運轉(zhuan),發生因(yin)(yin)為機器(qi)(qi)(qi)(qi)(qi)(qi)磨損、元(yuan)件(jian)性能(neng)低(di)落和構件(jian)本身靜(jing)態特征等因(yin)(yin)素帶來(lai)的(de)(de)(de)(de)偏差(cha)則愛莫能(neng)助(zhu)。其次根據綜合(he)賠(pei)償(chang)技能(neng)來(lai)進(jin)一步進(jin)步機器(qi)(qi)(qi)(qi)(qi)(qi)人(ren)(ren)(ren)(ren)精度。即按照預期丈量(liang)的(de)(de)(de)(de)機器(qi)(qi)(qi)(qi)(qi)(qi)人(ren)(ren)(ren)(ren)偏差(cha),正(zheng)在機器(qi)(qi)(qi)(qi)(qi)(qi)人(ren)(ren)(ren)(ren)模子(zi)中引入得當的(de)(de)(de)(de)賠(pei)償(chang)算法,來(lai)減小機器(qi)(qi)(qi)(qi)(qi)(qi)人(ren)(ren)(ren)(ren)的(de)(de)(de)(de)偏差(cha),實(shi)現改進(jin)和進(jin)步機器(qi)(qi)(qi)(qi)(qi)(qi)人(ren)(ren)(ren)(ren)精度的(de)(de)(de)(de)目標。