机器人钻削三位力反馈表面接触滑移抑制

Robotic Three-dot Force Feedback to Suppress Surface Contact Slipping in Robot Drilling

摘要: 相对与传统机床，工业机器人的刚度较低。在使用工业机器人进行钻削时，很容易产生振动。当钻头与工作表面接触时，这种振动将导致钻头沿工件表面滑移，影响成孔质量，孔位置精度达不到要求，以致钻削失败。本文提出一种基于力反馈的方法来抑制表面滑移。该方法利用力传感器反馈机器人运动学，使钻头与工件表面保持垂直，以抑制滑移。仿真分析表明，该方法可有效改善成孔质量，满足钻削要求。

Abstract: Compared with the machine tools, the stiffness of industrial robots is lower. Therefore, in the drilling of in- dustrial robots, vibration occurred easily. The vibration can generate a slipping effect when the drilling tool touches the workpiece, which affects the quality of the drilled holes, the holes’ precision can not meet requirement and results in the failure of drilling. This paper presents a method based on three-dot-force feedback, which can suppress the Surface Contact Slipping (SCS). The method makes feedback to the robot kinematics using three force sensors, keeping the drilling tool normal with the workpiece surface to suppress SCS. Through the simulation analysis, the method can ef-fectively improve the quality of the drilled holes and fulfill the aim of drilling.