一种轻量化五轴全并联加工机器人研发与应用

解增辉; 梅斌; 毕伟尧; 谢福贵; 刘辛军

doi:10.11959/j.issn.2096-3750.2021.00237

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一种轻量化五轴全并联加工机器人研发与应用

专题：工业互联网与智能制造 | 更新时间：2024-06-05

- 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
- 物联网学报 2021年5卷第3期页码：10-20
- 作者机构：
  
  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
- 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" ]
- 基金信息：
  
  国家自然科学基金资助项目;The National Natural Science Foundation of China(51922057);国家自然科学基金资助项目;The National Natural Science Foundation of China(91748205);清华大学水木学者计划;Shuimu Tsinghua Scholar Program(2021SM021)
- DOI：10.11959/j.issn.2096-3750.2021.00237
  中图分类号： TP24
- 纸质出版日期：2021-09-30，
  
  网络出版日期：2021-09，
- 稿件说明：
移动端阅览
解增辉, 梅斌, 毕伟尧, 等. 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, et al. Development and application of a lightweight five-axis parallel machining robot. [J]. Chinese journal on internet of things, 2021, 5(3): 10-20.
解增辉, 梅斌, 毕伟尧, 等. 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. DOI： 10.11959/j.issn.2096-3750.2021.00237.

ZENGHUI XIE, BIN MEI, WEIYAO BI, et al. Development and application of a lightweight five-axis parallel machining robot. [J]. Chinese journal on internet of things, 2021, 5(3): 10-20. DOI： 10.11959/j.issn.2096-3750.2021.00237.

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。

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.

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

Keywords

five-axis parallel machining robotlightweightattitude coupling motionapplication verification

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