关键词: 工业机器人, 外部轴, 分站工作模式, 任务规划, 伺服控制

Abstract:

Robot drilling and riveting system with auxiliary axis is a typical equipment for aircraft automatic assembly. On traditional control mode the auxiliary axis must be manufactured with higher accuracy, and more cost and longer period were needed. In order to overcome these defects, a multi-station working mode was proposed. Firstly the system composition and the work flow were analyzed. Then the process planning method of the auxiliary axis was put forward, by which the manufacture accuracy of the auxiliary axis was reduced. On the basis of that, a local closed loop control method was researched. Finally, an experimental platform was built, and results show that the repetitive positioning accuracy of the auxiliary axis is improved from 0.2mm to 0.02mm.

Key words: industrial robot, auxiliary axis, multi-station working mode, process planning, servo control