| 田威,焦嘉琛,李波,崔光裕.航空航天制造机器人高精度作业装备与技术综述[J].南京航空航天大学学报,2020,52(3):341-352 |
| 航空航天制造机器人高精度作业装备与技术综述 |
| High Precision Robot Operation Equipment and Technology in Aerospace Manufacturing |
| 投稿时间：2020-03-28 修订日期：2020-04-11 |
| DOI：10.16356/j.1005-2615.2020.03.001 |
| 中文关键词: 工业机器人 精度补偿 刚度强化 作业装备 |
| 英文关键词:industrial robot precision compensation stiffness enhancement operation equipment |
| 基金项目:国家自然科学基金（51875287）资助项目；江苏省自然科学基金（BK20190417）资助项目；国家重点研发计划智能机器人专项（2018YFB1306800，2019YFB1310101）资助项目；国家科技重大专项（2018ZX04014001，2018ZX04006001）资助项目；国防基础科研项目（JCKY2018605C002）资助项目；装备预先研究项目（61409230105）资助项目。 |
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| 中文摘要: |
| 新一代航空航天产品的研制与批产对制造精度与加工质量提出了更高的新要求。以机器人为核心的智能制造技术与装备是解决该难题的有效途径。然而，工业机器人较低的定位精度与弱刚性结构属性严重制约了其在航空航天部件高精度加工作业中的推广应用。本文在阐述国内外机器人装备在航空航天制造业的应用现状的基础上，重点介绍了机器人作业刚度强化策略与定位误差精确补偿方法的研究现状，并分析了现有高精度控制方法存在的问题及技术难点。最后探讨了机器人作业装备在航空航天制造领域的技术发展趋势，为面向航空航天产品的机器人高精度制造技术的研究提供参考与借鉴。 |
| 英文摘要: |
| The development and batch production of new generation aerospace products put forward higher requirements for manufacturing accuracy and processing quality. Intelligent manufacturing technology and equipment with industrial robot as the core is an effective way to solve the problem. However, the low positional accuracy and weak rigid structural properties of industrial robots seriously restrict their popularization and application in high-precision machining of aerospace components. Based on the global application status of robotic equipment in the aerospace manufacturing industry, this paper focuses on the research status of robotic stiffness enhancement strategies and precise compensation methods of positioning error, and analyzes the existing problems and technical difficulties of high-precision control methods. Finally, technology development trend of robot operation equipment in aerospace manufacturing is discussed, which provides reference for the research of robot high-precision manufacturing technology for aerospace products. |
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