Design Of Large-flange-oriented Robotic Machining And Prediction Of Flatness

In the national major scientific and technological projects,the application of largescale flanges is more and more,and its processing quality requirements are getting higher and higher;however,large-scale flanges often have features such as large size,large weight,small production volume,difficulty in moving,etc.Manufacturing is a big problem.With the development of robot technology,the equipment used for large-scale flange processing extends from a single machine tool to a robot.However,the robot is limited by its disadvantages such as low positioning accuracy and weak rigidity,and it is difficult to ensure the machining accuracy of large flanges.Therefore,it is of great significance to carry out research on error analysis and modeling,prediction of surface precision,and processing error control methods for machining large flanges of robots,and for the precision and feasibility analysis of robotic machining of large flanges.Firstly,according to the processing requirements of the large flange plane,this paper proposes the overall scheme of large-scale flange machining,including the construction of the robot processing system platform and the design of the large-scale flange machining program,and proposes a robot-based rapid calibration technology based on the laser tracker.After that,the robot's performance index was tested;the factors that affect the flatness of the robot's machining were analyzed;the robot pose error model was established;the corresponding model was established for the robot's geometric and flexible errors;and the flatness error prediction was derived based on the model.model.In addition,according to the evaluation index of stiffness performance,the influence of the position and posture of the robot on its stiffness performance is analyzed,and a method of processing error control is proposed according to the evaluation index.Finally,the related experiments of large flange machining were completed,including geometric parameter calibration experiment,stiffness identification experiment,robot calibration experiment based on laser tracker,and large-scale flange plane machining and splicing experiment.At the same time,the geometric error prediction model was validated against the above experiments.The correctness of the flexible error prediction model and the feasibility of using the stiffness performance evaluation index to control the machining error.