基于Clifford代数的复杂曲面机器人铣削轨迹误差补偿策略研究

相对于多轴数控机床，工业机器人因具有成本低、柔性好、操作空间大等优势而成为复杂曲面加工的一种新解决手段。然而，机器人串联式结构的几何误差和切削外载荷引起的柔性误差会导致铣削轨迹产生较大偏差，显著影响曲面零件的加工精度。为此，本项目针对复杂曲面的机器人加工问题，开展铣削轨迹误差补偿策略的理论与关键技术研究。通过建立几何-运动学-动力学约束条件，分析Clifford空间机器人曲面铣削轨迹规划模型及寻优算法；利用马达算子和Lagrange方程研究铣削轨迹误差统一模型和传递规律；结合轨迹优化和误差统一模型构建机器人在Clifford空间的铣削轨迹误差分级补偿方法，从而揭示机器人与曲面零件的动态交互规律。在此基础上，以船舰螺旋桨为典型零件实现铣削轨迹跟踪的精确控制和提高零件加工精度。研究成果将为建立机器人铣削的CAD-CAM-ROBOT工艺链提供关键理论与技术支撑，提升机器人曲面零件加工的工艺水平。

Compared with multi-axis CNC machine tools, industrial robots provide a new solution to complex surface machining due to the advantages of low cost, good flexibility and large workspace, etc. However, the geometric error of the robotic serial structure and compliance error caused by external cutting load could result in large milling trajectory errors, which affect the machining accuracy of complex parts dramatically. Therefore, this project, aiming to robot machining problem for complex surface, carries out the research about the theory and key technology to compensation strategy of milling trajectory error. By constructing constraint conditions of the geometry-kinematics-dynamics, the robotic milling trajectory planning for curved surface and its optimization algorithm are analyzed in Clifford space; The unified model and transfer rule of milling trajectory error are studied using Motor and Lagrange equation; Combining with the trajectory optimization and error unified model, the graded compensation method of robotic milling trajectory error is established in Clifford space, thereby reveals the law of dynamic interaction between robot and curved part. On this basis, taking the marine propeller as the typical part, the accurate control of trajectory tracking is achieved and the machining accuracy of parts is improved. The research achievement would provide a critical theory and technology support to develop the CAD-CAM-ROBOT process chain of robot milling, and improve the process level of robot machining for curved parts.