Parameter Interpolation of Hybrid Robot for Milling Operation

LI Guangxi; LIU Haitao; XU Qingshan; XIAO Juliang; QIN Xuda

doi:10.16080/j.issn1671–833x.2018.16.043

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Parameter Interpolation of Hybrid Robot for Milling Operation

更新时间：2025-10-30

- Parameter Interpolation of Hybrid Robot for Milling Operation
- Aeronautical Manufacturing Technology Vol. 61, Issue 16, Pages: 43-50(2018)
- 作者机构：
  
  1. 天津大学机构理论与装备设计教育部重点实验室,天津,300350
  2. 首都航天机械有限公司,北京,100076
- 作者简介：
- 基金信息：
- DOI：10.16080/j.issn1671–833x.2018.16.043
  CLC：
- Published：2018
- 稿件说明：
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黎广喜，刘海涛，徐青山，肖聚亮，秦旭达. 铣削加工用混联机器人参数曲线插补方法[J]. 航空制造技术, 2018, 61(16): 43-50.

LI Guangxi, LIU Haitao, XU Qingshan, XIAO Juliang, QIN Xuda. Parameter Interpolation of Hybrid Robot for Milling Operation[J]. Aeronautical Manufacturing Technology, 2018, 61(16): 43-50.
黎广喜，刘海涛，徐青山，肖聚亮，秦旭达. 铣削加工用混联机器人参数曲线插补方法[J]. 航空制造技术, 2018, 61(16): 43-50. DOI： 10.16080/j.issn1671–833x.2018.16.043.

LI Guangxi, LIU Haitao, XU Qingshan, XIAO Juliang, QIN Xuda. Parameter Interpolation of Hybrid Robot for Milling Operation[J]. Aeronautical Manufacturing Technology, 2018, 61(16): 43-50. DOI： 10.16080/j.issn1671–833x.2018.16.043.

摘要

传统加工装备难以满足高速、高精度、高柔性加工需求，研发高性能加工装备势在必行。以实现航空制造领域高速高精度加工为研究目的，提出一种基于混联机器人平台的加工方法。介绍一种新型五轴混联加工机器人（TriMule），并建立其运动学逆解模型。为提高加工精度，阐述了参数曲线插补原理及其在混联机器人加工装备上的应用。最后结合螺旋铣孔加工工艺，在混联机器人加工平台上进行钛合金铣孔试验。仿真和试验结果表明，采用参数曲线插补方法，能有效限制进给率波动，改善混联机器人加工精度。总结全文，指出混联机器人具备高刚度、高速度、高精度及高柔性等特点，在航空制造领域具有广阔的应用前景。

Abstract

The traditional manufacturing equipment is hard to meet the demand of high-speed

high-precision and high-flexible machining

Research and development of high-performance processing equipment is imperative. In order to achieve the goal of high-speed and high-precision machining

a 5-axis hybrid robot for milling operation is proposed. A brief introduction of the robot and its kinematic analysis are presented. To improve the machining accuracy

the principle of parametric curve interpolation and its application in the hybrid robot are studied. Finally

taking the helical milling of holes as an example

the experiment of milling holes on titanium alloy is carried out. Simulation and experimental results show that the parametric curve interpolation method can effectively limit the feedrate fluctuation and improve the machining accuracy. In the end

it is pointed out that the hybrid robot has the characteristics of high-rigidity

high-speed

high-precision and high-flexibility

and it has broad application prospects in the aviation manufacturing industry.

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