The Deformation Control Of Weak Rigidity Workpiece Process By 6R Manipulator

Because of it's light weight and excellent overall performance,the weak rigidity workpiece has been widely applied in many fields,such as aerospace,military equipment,communications,ships,vehicles and some light machinery systems.Aiming at the problem of deformation suppression of weak rigidity workpiece process by 6R manipulator,the paper optimizes the clamping structure,optimizes the technological parameters,and use the way of deformation compensation to modify the machining path to improve the machining quality of the weak rigidity workpiece.The main contents of the paper are as follows:The experimental research on the machining experiment platform of the weak rigidity workpiece with the SIASUN SR6C as the machining foundation is carried out.The force deformation of the weak rigidity workpiece is simulated and analyzed.The stress strain relation function of the discrete point of the machining path is obtained,which provides the theoretical basis for the calculation of the deformation compensation by the iterative algorithm.And design the experiment to verify the rationality of the simulation analysis.The influence of the clamping method on the machining deformation of the weak rigidity workpiece is studied,and the clamping structure is optimized.Referring to the design principle of the machining fixture for the rigid parts machine tool,the applicable criterion for the fixture of the weak rigidity workpiece is formulated.The effect of the clamping point position on the machining deformation of the workpiece is compared with the method of simulation analysis.With the stress distribution and the size of the strain as the optimization objective,the parameters of the clamping and the selection of the parameters are selected.The special fixture suitable for the test parts is designed based on the application criteria of the fixture and the selection range of the parameters.The selection range of process parameters in the machining of the weak rigidity workpiece is studied.The influence of different processing parameters on the machining quality of the workpiece is analyzed by a large number of processing experiments.Aiming at the problem of mutual coupling among parameters,the discrete experimental data points are fitted as continuous parametric surfaces,and the processing parameters are combined and optimized based on the dual standard of machining allowance and workpiece surface rough-ness,and the reasonable selection range of process parameters is summed up.The deformation compensation processing path of the 6R manipulator of the weak rigidity workpiece is studied.Combined with the results of simulation analysis,the iterative algorithm is used to optimize the deformation compensation parameters of the workpiece.Using the theory of the stiffness of the manipulator and combining the data of the experi-mental position and posture,the distortion of the end of the manipulator is deformed.After double deformation compensation,the deformation correction processing path is obtained.Finally,the machining process parameters and correction paths in the preferred range are applied to the machining experiment of the weak rigidity workpiece manipulator,and the feasibility of the deformation control method is verified.