摘要
针对以气凝胶为基体的热防护筒件在机加工过程中存在手动调姿繁琐、产品表面易损伤等问题,结合气凝胶热防护层材料性能,提出了一种可实现工件无损装夹并能进行位姿调节的方案设计,通过柔性真空吸附装置实现工件无损装夹,通过 4 个三坐标定位器实现工件六自由度位姿调节,基于快速位姿算法,结合误差权值分配法,利用Levenberg-Marquard(LM)算法对含有误差的位姿调节参数进行修正,得到更准确的目标位姿参数,仿真结果显示,修正后位姿调节参数误差减小了 50%～90%.最后进行了试验验证,修正后,工件位姿调节参数位置误差小于 0.6 mm,姿态误差小于 0.25°,其装置性能满足目前工艺需求,可有效提升以气凝胶为基体的复合材料机加工生产效率.
Abstract
In view of the problems such as cumbersome manual posture adjustment and easy surface damage of the thermal protective layer parts based on aerogel in the machining process,combined with the material properties of the thermal protective layer of aerogel,a scheme design for lossless clamp and automatic posture adjustment was proposed,the non-destructive clamping of the workpiece was realized through a flexible vacuum adsorption device,the six-degree-of-freedom posture adjustment of the workpiece was realized through four three-coordinate positioners.Based on the fast pose algorithm,combined with the error weight distribution method,the Levenberg-Marquard algorithm was used to correct the posture adjustment parameters with errors to obtain more accurate target posture parameters.The simulation results show that the error of posture adjustment parameters after correction is reduced by 50%～90%.Finally,the experiments verify that the position error of the workpiece posture adjustment parameters is less than 0.6 mm and the attitude error is less than 0.25° after correction,and the device performance meets the current process requirements,which can effectively improve the production efficiency of composite material machining with aerogel as matrix.
NETL
NSTL
维普
万方数据