典型文献
Variable Stiffness Identification and Configuration Optimization of Industrial Robots for Machining Tasks
文献摘要：
Industrial robots are increasingly being used in machining tasks because of their high flexibility and intelligence. How-ever, the low structural stiffness of a robot significantly affects its positional accuracy and the machining quality of its operation equipment. Studying robot stiffness characteristics and optimization methods is an effective method of improving the stiffness performance of a robot. Accordingly, aiming at the poor accuracy of stiffness modeling caused by approximating the stiffness of each joint as a constant, a variable stiffness identification method is proposed based on space gridding. Subsequently, a task-oriented axial stiffness evaluation index is proposed to quantitatively assess the stiffness performance in the machining direction. In addition, by analyzing the redundant kinematic characteris-tics of the robot machining system, a configuration optimization method is further developed to maximize the index. For numerous points or trajectory-processing tasks, a configuration smoothing strategy is proposed to rapidly acquire optimized configurations. Finally, experiments on a KR500 robot were conducted to verify the feasibility and validity of the proposed stiffness identification and configuration optimization methods.
文献关键词：
中图分类号：
作者姓名：
Jiachen Jiao;Wei Tian;Lin Zhang;Bo Li;Junshan Hu;Yufei Li;Dawei Li;Jianlong Zhang
作者机构：
Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China;Beijing Institute of Space Launch Technology,Beijing 100076,China;Beijing Institute of Mechanical Equipment,Beijing 100854,China
文献出处：
引用格式：
[1]Jiachen Jiao;Wei Tian;Lin Zhang;Bo Li;Junshan Hu;Yufei Li;Dawei Li;Jianlong Zhang-.Variable Stiffness Identification and Configuration Optimization of Industrial Robots for Machining Tasks)[J].中国机械工程学报,2022(05):361-376
A类：
gridding,KR500
B类：
Variable,Stiffness,Identification,Configuration,Optimization,Industrial,Robots,Machining,Tasks,robots,are,increasingly,being,machining,tasks,because,their,high,flexibility,intelligence,How,ever,low,structural,stiffness,significantly,affects,its,positional,accuracy,quality,operation,equipment,Studying,characteristics,optimization,methods,effective,improving,performance,Accordingly,aiming,poor,modeling,caused,by,approximating,each,joint,constant,variable,identification,proposed,space,Subsequently,oriented,axial,evaluation,quantitatively,assess,direction,addition,analyzing,redundant,kinematic,system,further,developed,maximize,For,numerous,points,trajectory,processing,smoothing,strategy,rapidly,acquire,optimized,configurations,Finally,experiments,were,conducted,verify,feasibility,validity
AB值：
0.560802
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