关键词: 铣削加工机器人, 运动学分析, 刚度模型, 误差补偿

Abstract: As to the machining accuracy affected by low stiffness characteristics of the milling robot,the stiffness modeling and error compensation methods of the robot were studied.Above all,with the 6-DOF serial robot ES165D as the research object,the global stiffness model of the robot was established with the consideration of the joint deformation,arm deformation and the influence of arm gravity on the end of the deformation.Through the force deformation test of the robot end,it was obtained that the Mean Absolute Percentage Error (MAPE) between the predicted and experimental deformation of the robot end was less than 15%,which proved the validity and accuracy of the robot stiffness model.The machining path in the milling process was compensated based on the robot stiffness model.The average distance error of the machining path after compensation was reduced by 37.39% compared with that before compensation,which indicated a certain compensation effect.

Key words: milling robot, kinematics analysis, stiffness model, error compensation