Research On Error Compensation And Program Realization Of Large-scale Casting And Forging Robots

In recent years,with the continuous devel opment of artificial intelligence,the intelligent development of industrial robots has received more and more attention from many experts and scholars,which has made the technology of industrial ro bots in the processing field continuously improved.When industrial robots process complex parts and curved surfaces,they can realize intelligent processing such as easy programming and operation of the robot,which can improve the efficiency of the robot in mechanical processing.This article focuses on the lack of rigidity of industrial robots in the repair process,which will cause deformation during the machining process of industrial robots,which will reduce the machining accuracy of the robots,lead to robot machining errors,and reduce the quality of rob ot machining.This article mainly focuses on industrial robots.Analyze and compensate the errors generated during machining.Taking the six-axis robot MOTOMAN UP50 as the research object,the kinematics,dynamics and robot stiffness models are established respectively,and the errors generated by the robot in the cutting process are analyzed,and the robot is modified.Processing experiments obtain experimental data,and use neural network to predict and compensate its errors.The main research contents and results of this paper are as follows:(1)Industrial robot kinematics and dynamics modeling.First,establish a three-dimensional model of the MOTOMAN UP50 robot,simplify it to a link robot according to the model,establish the attached link coordinate system of the six-axis robot,and establish the robot kinematics model,use the MATLAB robot toolbox to program and verify the correctness of the kinematics model.Then derive the robot Jacobian matrix.Finally,the robot dynamics model is established on the basis of Lagrangian equations,and its forward and inverse kinematics equations and joint torque simulation are solved based on MATLAB programming.(2)Error analysis and stiffness modeling of industrial robots.First,analyze the source of errors in the robot in the repair process and summarize th ose errors that have the greatest impact on the processing;then study and analyze the robot cutting force,including the static and dynamic cutting forces during the cutting process;finally In the research on the stiffness of industrial robots,the stiff ness of each part is analyzed separately according to the components of the robot joints,and the stiffnes s of the connecting rod is studied again.Finally,the overall stiffness model of the robot is obtained,which provides a theoretical basis for the su bsequent prediction of the deformation error of the robot end.(3)Research on the stiffness prediction an d error compensation of industrial robots.The stiffness prediction is actually the prediction of the robot end deformation.First,the principle of the BP neural and the advantages of the network are introduced in detail,the network parameters are set,a nd the Python language is used to program it;then the experimental data is used to train it to obtain the best Optimizing the number of iterations,and then predict the deformation of the robot end to obtain the deformation error,and finally compensate f or the error.The compensation effect diagram shows that the compensation method can improve the accuracy of the robot end.(4)Robot processing programming planning.Firstly,use Python language to build a robot programming environment,analyze the syste m required for robot processing,and then perform block programming according to each system module of the robot processing,and finally realize the v isual interface of the robot processing system,which provides a new programming for the intelligent progr amming of industrial robots method.The focus of this article is to study the kinematics and stiffness analysis of industrial robots in the process of repairing processing,as well as the research on the compensation of errors caused by insufficient stiffn ess in the processing and the research on processing system programming,which provides a programmable theoretical basis for the field of industrial r obot processing.