Research on Error Measurement and Decoupling Based on Joint Work of Robot and Machine Tool
The joint work of industrial robots and CNC machine tools plays an important role in automated production and intelligent manufacturing.In order to solve the error problem caused by the joint work of ro-bot and CNC machine tool,the comprehensive error model of robot and CNC machine tool is established based on the conditions of joint work,and the robot and CNC machine tool are divided into two moving branch chains.Considering the relationship between the two,a method of joint error measurement using ma-chine tool probe is proposed.By measuring the joint motion of robot and CNC machine tool,the overall er-ror information of the system can be obtained.Aiming at the error measurement and identification of the ki-nematic branch chain of CNC machine tool,NUBRS curve is used as the kinematic trajectory of the ma-chine tool,and the geometric error identification model of CNC machine tool is established on this basis,which contains 27 error elements.The experimental results show that 27 error elements in four coordinate systems of CNC machine tools are identified effectively after measuring the spatial errors produced by the joint work of machine tools and robots.
NETL
NSTL
万方数据
维普
